.png){kind=icon}
返回
A Grasping Force Optimization Algorithm for Multiarm Robots With Multifingered Hands
.png){kind=icon}
PRE
AI
DOI：10.1109/TRO.2012.2212633.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
The computation of the grasping forces for a multi-arm robotic manipulation system (e. g., an anthropomorphic bimanual system) is considered in this paper. This problem is formulated as a convex optimization problem, also considering joint torque constraints. An algorithmic solution suitable for online implementation is presented, which allows a substantial reduction in the computational load by adopting a compact formulation and dynamically decreasing the number of active torque constrains. Moreover, for the case of a bimanual manipulation system, a suboptimal single-hand optimization algorithm is proposed and compared with that providing the optimal solution. Finally, a new algorithm for a valid initial-point evaluation is proposed. The effectiveness of the described methods has been tested in a simulation case study where the grasping forces of a humanoid torso equipped with two five-finger robotic hands are modified online to handle a load with a time-varying mass.
Keyword:
Grasping force optimization (GFO)
grasping
manipulation
multifingered hands
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
引用论文
On the role of hand synergies in the optimal choice of grasping forces关于手协同作用在抓取力的最佳选择中的作用.png)
AUTONOMOUS ROBOTS
OAAI
AUTONOMOUS ROBOTSIF4.3
OAAI分享收藏
查看更多内容