Finger gait is necessarily needed in order to relocate fingers of the robotic hand when a dextrous manipulation task cannot be accomplished only by the rolling and sliding motions of the fingers. In this paper, a novel modeling framework for the multifingered manipulation with finger gaits is proposed. Through classifying the fingers into grasping fingers and free fingers, an alternate representation of a grasp is introduced. With the consideration of both its discrete and continuous characteristics, the kinematics model of a $k$-fingered manipulation with finger gaits is formulated into a hybrid automaton. Finally, simulation results verify the validity of the proposed modeling framework.
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机译：当仅通过手指的滚动和滑动运动不能完成灵巧的操作任务时，为了重新定位机械手的手指，必须需要手指步态。本文提出了一种新型的手指步态多指操作建模框架。通过将手指分为抓握手指和自由手指，可以引入抓握的另一种表示形式。考虑到其离散和连续特性，将具有手指步态的$ k $手指操纵的运动学模型公式化为混合自动机。最后，仿真结果验证了所提出建模框架的有效性。
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