A mixed logic dynamical modeling formulation and optimal control of intelligent robots

By considering the dexterous hand manipulation problem as a hybrid system, we propose a mixed logic dynamical (MLD) modeling formulation which encapsulates phases of continuous motion, switching between types of motion, and occurrence of impacts. We first formulates the multi-contact manipulation system into a general nonlinear dynamical equation subject to (in)equality and complementarity constraints, then transform the constrained system to a MLD system model. Based on the derived MLD model, dexterous hand manipulation can be realized optimally via mixed integer quadric programming (MIQP) algorithm. This modeling formulation and an optimization approach are applied to a whole body manipulation task as an example.