A Grasping Force Optimization Algorithm for Dexterous Robotic Hands

被引：0
|
作者：
Lippiello, Vincenzo [1 ]
Siciliano, Bruno [1 ]
Villani, Luigi [1 ]
机构：
[1] Univ Naples Federico II, Dipartimento Informat & Sistemist, PRISMA Lab, I-80125 Naples, Italy
来源：
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of grasping force optimization for a robotic system equipped with multi-fingered hands is considered in this paper. This problem is cast as a convex optimization problem, considering also joint torque constraints. A solution suitable for on-line implementation is proposed, which allows a substantial reduction of the computational load by dynamically decreasing the number of active torque constraints. Moreover, for the case of a bimanual manipulation system, a sub-optimal single-hand optimization algorithm is presented and compared with the optimal one. The effectiveness of the described methods has been tested in a simulation case study.
引用
收藏
页码：4170 / 4175
页数：6
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