Motion planning of multifingered hand-arm system with optimal grasping force

Multifingered hand-arm systems play an important role in dynamic manipulation tasks. They can grasp and move various shaped objects. It is important to plan the motion of the arm and appropriately control the grasping forces in multifingered hand-arm system manipulation. In this paper, we perform the motion planning of multifingered hand-arm system based on optimal grasping force. The dynamics of the object and the grasping forces subjected to the second-order cone constraints are considered in the dynamic manipulation. The motion is planned with the constraint of the multi-arms kinematics. The optimal grasping force problem is recast as the second-order cone program. The semismooth Newton method with the Fischer-Burmeister function is used to efficiently solve the second-order cone program. The simulations of optimal grasping manipulation are performed to demonstrate the effectiveness of the proposed approach.