Sequential improvement of grasp based on sensitivity analysis

Christoforos I. Mavrogiannis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work, we present a novel concept in the area of optimal grasp synthesis, confronting both geometric and mechanical constraints. Initializing from a locally optimal force distribution on some predefined feasible contact points, our method improves gradually the grasp quality avoiding simultaneously singularities and mechanical limitations. The proposed scheme implements sequential perturbations on the contact points and the wrist's position/orientation incorporating a post-optimality method in an iterative process to derive the consecutive optimal states. The main novelty of this work lies in the fact that only local information of the object's surface is required, which can be provided for instance by an appropriate tactile sensor suite. Finally, a simulation study on the DLR/HIT Hand II clarifies and verifies the efficiency of the approach.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages1094-1099
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/TerritoryGermany
CityKarlsruhe
Period5/6/135/10/13

Keywords

  • Grasp Planning
  • Grasp Synthesis
  • Grasping Force Optimization
  • Nonlinear Optimization
  • Sensitivity Analysis

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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