Online computation of grasping force in multi-fingered hands

Saut, Jean-Philippe; Remond, C.; Perdereau, Véronique; Drouin, M.

doi:10.1109/iros.2005.1545419

Cited by 22 publications

(10 citation statements)

References 16 publications

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“…Cornella et al [33] presented a mathematical approach to obtain optimal solution of contact points using the dual theorem of nonlinear programming. Saut et al [34] www.intechopen.com presented a method for solving the grasping force optimization problem of multi-fingered dexterous hand by minimizing a cost function. All these works are based on grasp of rigid objects.…”

Section: Issues and Prior Researchmentioning

confidence: 99%

Target Point Manipulation Inside a Deformable Object

Das¹,

Sarkar²

2012

Robotic Systems - Applications, Control and Programming

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Section: Issues and Prior Researchmentioning

confidence: 99%

Target Point Manipulation Inside a Deformable Object

Das¹,

Sarkar²

2012

Robotic Systems - Applications, Control and Programming

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“…However, these methods yield optimal solutions at the expense of extensive computation. In (Saut et al, 2005) an alternative on-line solution is introduced to solve the grasping force optimization problem in multi-fingered dexterous hand by minimizing a cost function. Another real-time grasping force optimization algorithm for multi-fingered hand was introduced in (Liu & Li, 2004) by incorporating appropriate initial points.…”

Section: Robotic Grasping and Contact Modelingmentioning

confidence: 99%

Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review

Khalil¹,

Payeur²

2010

Robot Manipulators Trends and Development

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“…Examples include legged robots [1]- [5], cooperative robots manipulating a common object [6], and robotic grasping [7]- [10]. These robotic systems often have a time-varying topology, in which the total degrees of freedom exhibited by the constrained robot changes upon activation and deactivation of the unilateral constraints.…”

Section: Introductionmentioning

confidence: 99%

Control of constrained robots subject to unilateral contacts and friction cone constraints

Aghili

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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The projection-based control of a rather general class of robots subject to linear and quadratic inequality constraints pertinent to unilateral contacts and friction cones is presented. The controller can also take into account other physical constraints levied by actuator saturation limits and/or existence of some unactuated joints, and can minimize actuation effort for redundant systems. Moreover, since the controller is not based on derivation of minimal-order dynamics model, it can easily handle contact switching. Therefore, a single controller can be used for different constraint conditions, which is very appealing for applications such as legged robots or grasping robots. The orthogonal decomposition of the generalized force vector yields the primary and secondary control inputs, which are used for motion control and interaction control, respectively. It is shown that the problem of minimizing actuation effort subject to the constraints due to the friction cones, unilateral contacts, and actuation limitations, can be transcripted into an optimization programming in terms of the secondary control variable. The latter optimization problem has a quadratic cost function accompanied by a set of quadratic and linear inequality constraints plus linear equality constraints that can be solved by barrier methods.

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Online computation of grasping force in multi-fingered hands

Cited by 22 publications

References 16 publications

Target Point Manipulation Inside a Deformable Object

Target Point Manipulation Inside a Deformable Object

Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review

Control of constrained robots subject to unilateral contacts and friction cone constraints

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