Computation for maximum stable grasping in dynamic force distribution

DOI10.1007/S10846-012-9682-9MaRDI QIDQ1761270zbMATH OpenOpenAlexFDO

Authors Shuang-Quan Wen, Tiejun 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) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 2107836 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping
• The quickhull algorithm for convex hulls

Cited in

(9)

• The optimal object posture that minimizes contact forces in grasping
• Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping
• scientific article; zbMATH DE number 797430 (Why is no real title available?)
• Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization
• scientific article; zbMATH DE number 1420520 (Why is no real title available?)
• Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips
• Grasping torque optimization for a dexterous robotic hand using the linearization of constraints
• Limiting and minimizing the contact forces in multifingered grasping
• Compliant grasping with passive forces

Describes a project that uses

Uses Software

• Qhull

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