Title :
Optimal multifingered grasp synthesis
Author :
Coelho, J.A., Jr. ; Grupen, R.A.
Author_Institution :
Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
This paper discusses how grasp synthesis can be cast as a control composition problem. Two elemental grasp controllers are presented and composed into a general purpose grasp controller through the use of standard optimal control techniques. The resulting grasp synthesis procedure is scalable on the number of contacts, is not tied to any specific object representation scheme, and can incorporate kinematic constraints into its resolution
Keywords :
kinematics; manipulators; optimal control; control composition problem; elemental grasp controllers; kinematic constraints; optimal multifingered grasp synthesis; standard optimal control techniques; Computer science; Force control; Friction; Geometry; Jacobian matrices; Kinematics; Laboratories; Null space; Optimal control; Robots;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351178
