TY - GEN
T1 - Sequential improvement of grasp based on sensitivity analysis
AU - Mavrogiannis, Christoforos I.
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - Grasp Planning
KW - Grasp Synthesis
KW - Grasping Force Optimization
KW - Nonlinear Optimization
KW - Sensitivity Analysis
UR - http://www.scopus.com/inward/record.url?scp=84887272168&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887272168&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630709
DO - 10.1109/ICRA.2013.6630709
M3 - Conference contribution
AN - SCOPUS:84887272168
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1094
EP - 1099
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -