Grasping force optimization for multi-fingered robot hands | IEEE Conference Publication | IEEE Xplore

Grasping force optimization for multi-fingered robot hands


Abstract:

For dextrous robotic hand grasping a key goal is to balance external and internal grasping forces to assure a stable grasp and low grasping energy. In this paper, the aut...Show More

Abstract:

For dextrous robotic hand grasping a key goal is to balance external and internal grasping forces to assure a stable grasp and low grasping energy. In this paper, the authors view the task of grasping force optimization as a linearly constrained semidefinite programming problem for which there are known globally exponentially convergent solutions via gradient flows. A key observation is that the nonlinear friction constraint at each contact point is equivalent to the positive definiteness of a suitable matrix containing the contact wrench intensities. A recursive version is presented, and numerical examples demonstrate the simplicity, the good numerical properties, and optimality of the approach.
Date of Conference: 21-27 May 1995
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-1965-6
Print ISSN: 1050-4729
Conference Location: Nagoya, Japan

References

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