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.
A grasping force optimization algorithm for dexterous robotic hands / Lippiello, Vincenzo; Siciliano, Bruno; Villani, Luigi. - (2012), pp. 4170-4175. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a St Paul, MN nel May) [10.1109/ICRA.2012.6224915].
A grasping force optimization algorithm for dexterous robotic hands
LIPPIELLO, VINCENZO;SICILIANO, BRUNO;VILLANI, LUIGI
2012
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
