Grasping torque optimization for a dexterous robotic hand using the linearization of constraints

DOI10.1155/2019/5235109MaRDI QIDQ2298533zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/5235109

Mathematics Subject Classification ID

Numerical optimization and variational techniques (65K10) Interior-point methods (90C51) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Recommendations

• A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots
• Grasping force optimization for multi-fingered robotic hands using projection and contraction methods
• scientific article; zbMATH DE number 6178891
• Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping
• Computation for maximum stable grasping in dynamic force distribution

Cites work

• scientific article; zbMATH DE number 1258153 (Why is no real title available?)
• A polynomial-time interior-point method for circular cone programming based on kernel functions
• A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots
• A smoothed NR neural network for solving nonlinear convex programs with second-order cone constraints
• Contact Mechanics
• Limiting and minimizing the contact forces in multifingered grasping
• Neural networks for solving second-order cone constrained variational inequality problem
• Primal-dual interior-point algorithms for convex quadratic circular cone optimization
• Theoretical and experimental study of dynamic load-carrying capacity for flexible robotic arms in point-to-point motion

Cited in

(6)

• Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping
• Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part I: Vorticity model
• Rotation optimization on the unit quaternion manifold and its application for robotic grasping
• Grasping force optimization for multi-fingered robotic hands using projection and contraction methods
• Computation for maximum stable grasping in dynamic force distribution
• A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots

This page was built for publication: Grasping torque optimization for a dexterous robotic hand using the linearization of constraints

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2298533)