Grasping Force Optimization Approaches for Anthropomorphic Hands
نویسندگان
چکیده
منابع مشابه
Optimization Anthropomorphic Tendon-driven Robotic Hands Can Exceed Human Grasping Capabilities following Anthropomorphic Tendon-driven Robotic Hands Can Exceed Human Grasping Capabilities following Optimization
How functional versatility emerges in vertebrate limbs in spite of their anatomical complexity is a longstanding question. In particular, fingers are actuated by numerous muscles pulling on tendons following intricate paths. In contrast, the tendon-driven robotic hands with intuitive tendon routings preferred by roboticists for their ease of analysis and control do not perform at the level of t...
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The paper presents a methodology to rapidly solve the inverse kinematics of anthropomorphic hands, which is particularized for a mechanical hand considering 27 degrees of freedom. Given the contact points and normal directions on an object surface, the proposed algorithm finds the joint values and the wrist position and orientation that make the fingertips satisfy the contact constraints. The a...
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How functional versatility emerges in vertebrate limbs in spite of their anatomical complexity is a longstanding question. In particular, fingers are actuated by numerous muscles pulling on tendons following intricate paths. In contrast, tendondriven robotic hands with intuitive tendon routings preferred by roboticists for their ease of analysis and control do not perform at the level of their ...
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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...
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2017
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4038684