By Topic

Real-time grasping-force optimization for multifingered manipulation: theory and experiments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Guanfeng Liu ; Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., China ; Zexiang Li

Real-time grasping-force optimization is a vital problem in dextrous manipulation with multifingered robotic hands. In this paper, we review two prominent approaches that have recently been proposed for this problem, and identify their common need for an appropriate initial condition to start the recursive algorithms. Then, we propose an efficient algorithm that combines a linear-matrix-inequality method with a gradient method for automatic generation of initial conditions. By incorporating the initial conditions, optimal grasping forces can be generated efficiently in real time. Finally, we implement and evaluate all the algorithms for grasping-force control in the Hong Kong University of Science and Technology three-fingered hand platform. Experimental results demonstrate the efficiency of the proposed approach.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:9 ,  Issue: 1 )