By Topic

Grasp analysis as linear matrix inequality problems

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

3 Author(s)
Li Han ; Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA ; J. C. Trinkle ; Z. X. Li

Three fundamental problems in the study of grasping and dextrous manipulation with multifingered robotic hands are as follows, a) Given a robotic hand and a grasp characterized by a set of contact points and the associated contact models, determine if the grasp has force closure, b) Given a grasp along with robotic hand kinematic structure and joint effort limit constraints, determine if the fingers are able to apply a specified resultant wrench on the object, c) Compute “optimal” contact forces if the answer to problem b) is affirmative. In this paper, based on an early result by Buss et al., which transforms the nonlinear friction cone constraints into positive definiteness constraints imposed on certainty symmetric matrices, we further cast the friction cone constraints into linear matrix inequalities (LMI) and formulate all three of the problems stated above as a set of convex optimization problems involving LMI. The latter problems have been extensively studied in optimization and control communities. Currently highly efficient algorithms with polynomial time complexity have been developed and made available. We perform numerical studies to show the simplicity and efficiency of the LMI formulation to the three grasp analysis problems

Published in:

IEEE Transactions on Robotics and Automation  (Volume:16 ,  Issue: 6 )