Computation for maximum stable grasping in dynamic force distribution

DOI10.1007/s10846-012-9682-9zbMath1251.93087OpenAlexW2083762809MaRDI QIDQ1761270

Shuang-Quan Wen, Tie-Jun Wu

Publication date: 15 November 2012

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-012-9682-9

zbMATH Keywords

maximum stabilitydynamic force distributionfriction cone constraintsmulti-fingered graspingoptimal contact force

Mathematics Subject Classification ID

Nonlinear programming (90C30) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (1)

Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips

Uses Software

• Qhull

Cites Work

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• Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping
• The quickhull algorithm for convex hulls

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