DocumentCode
2194704
Title
A Bundle Trust Region Method for Optimal Grasp Planning of Multi-fingered Robot Hand
Author
Yin, Yingjie ; Tamura, Kazuya ; Hosoe, Shigeyuki
Author_Institution
Bio-mimetic Control Res. Center, Inst. of Phys. & Chem. Res., Saitama
fYear
2006
fDate
17-20 Dec. 2006
Firstpage
884
Lastpage
889
Abstract
How to plan a proper set of contact points on an object so as to maximize the grasp capability is a common but generally difficult problem because of its nondifferentiable complexity. In current literature, subgradient method is commonly used in grasp planning. However, it converges slowly and requires much iteration to reach an optimum. In this study, we adapt the bundle trust region (BTR) method to the synthesis problem for more fast convergence and short computation time. Numerical tests validate the effectiveness of this new trial of BTR to the grasp planning.
Keywords
manipulators; planning; bundle trust region method; grasp planning; multifingered robot hand; optimal grasp planning; subgradient method; Biomimetics; Convergence; Fingers; Grasping; Humans; Optimal control; Optimization methods; Robotics and automation; Robots; Shape; Grasp planning; bundle trust region method; nondifferentiable optimization;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location
Kunming
Print_ISBN
1-4244-0570-X
Electronic_ISBN
1-4244-0571-8
Type
conf
DOI
10.1109/ROBIO.2006.340337
Filename
4141982
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