System description and control for seamless manipulation

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In this study, we considered a new feedback control design methodology or multi-fingered robot hands applicable to tasks with multiple contact situations, such as catching/releasing task preceding to or followed by grasping/manipulation. To realize smooth transition of the contact situations, we were especially concerned with selection of the system variables to describe the system dynamics continuously over the multiple contact situations. As one of the possible choices, we selected the relative motion of the grasp polyhedrons, and proposed a control design method based on this system expression.