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.
2012
9781467314039
9781467314046
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].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/484873
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