An inexact multiblock alternating direction method for grasping-force optimization of multifingered robotic hands
نویسندگان
چکیده
Abstract In this paper, we present an inexact multiblock alternating direction method for the point-contact friction model of force-optimization problem (FOP). The friction-cone constraints FOP are reformulated as Cartesian product circular cones. We focus on convex quadratic circular-cone programming FOP, which is exact cone-programming model. Coupled with separable objective function, recast circular-cone-programming a cone A parallel used to solve FOP. prove global convergence proposed method. Simulation results three-fingered reported, verified efficiency
منابع مشابه
An inexact alternating direction method with SQP regularization for the structured variational inequalities
In this paper, we propose an inexact alternating direction method with square quadratic proximal (SQP) regularization for the structured variational inequalities. The predictor is obtained via solving SQP system approximately under significantly relaxed accuracy criterion and the new iterate is computed directly by an explicit formula derived from the original SQP method. Under appropriat...
متن کاملAn Alternating Direction Implicit Method for Modeling of Fluid Flow
This research includes of the numerical modeling of fluids in two-dimensional cavity. The cavity flow is an important theoretical problem. In this research, modeling was carried out based on an alternating direction implicit via Vorticity-Stream function formulation. It evaluates different Reynolds numbers and grid sizes. Therefore, for the flow field analysis and prove of the ability of the sc...
متن کاملInexact Alternating Direction Methods of Multipliers for Separable Convex Optimization
Abstract. Inexact alternating direction multiplier methods (ADMMs) are developed for solving general separable convex optimization problems with a linear constraint and with an objective that is the sum of smooth and nonsmooth terms. The approach involves linearized subproblems, a back substitution step, and either gradient or accelerated gradient techniques. Global convergence is established. ...
متن کاملA Grasping Force Optimization Algorithm with Dynamic Torque Constraints for Multi-Fingered Robotic Hands
The problem of grasping force optimization (GFO) for a multi-fingered robotic hand is considered in this paper. The GFO problem is cast in a convex optimization problem, considering also joint torque constraints. A new algorithmic solution is proposed here, which is suitable to be implemented online. The proposed formulation allows a substantial reduction of the computational load of the proble...
متن کاملStudies on Grasping and Manipulation by Robotic Multifingered Hands and Arm-hand Systems
The major purpose of this thesis is to discuss the various problems of the gra.sping and manipulation by robotic multifingered hands and arm-hand systems. This thesis consists of two parts. In the first part of Chapters 2 through 4, dliscussions are made on gra.sping and manipulation by multifingered hands. In the second part of Chapters 5 and 6, cooperative manipulations with grasping by macro...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Inequalities and Applications
سال: 2023
ISSN: ['1025-5834', '1029-242X']
DOI: https://doi.org/10.1186/s13660-023-02938-w