On Geometric Algorithms for Real-Time Grasping Force Optimization

Dikin-Type Algorithms for Dextrous Grasping Force Optimization

One of the central issues in dextrous robotic hand grasping is to balance external forces acting on the object and at the same time achieve grasp slability and minimum grasping effort. A companion paper shows that the nonlinear friction-force limit constraints on grasping forces are equivalent to the positive definiteness of a certain matrix subject to linear constraints. Furthe~ compensation o...

Eecient Algorithms for Geometric Optimization Eecient Algorithms for Geometric Optimization

Linear Programming 15 contain such a constraint), which implies that after kd iterations (H) (B) 2k. Hence, after kd successful rounds, 2k (H) nek=3. This implies that the above algorithm terminates in at most 3d lnn successful rounds. Since each round takes O(dd) time to compute xR and O(dn) time to compute V , the expected running time of the algorithm is O((d2n+dd+1) log n). By combining thi...

Dextrous hand grasping force optimization

— A key goal in dextrous robotic hand grasping is to balance external forces and at the same time achieve grasp stability and minimum grasping energy by choosing an appropriate set of internal grasping forces. Since it appears that there is no direct algebraic optimization approach, a recursive optimization, which is adaptive for application in a dynamic environment, is required. One key observ...

Eecient Algorithms for Geometric Optimization

Linear Programming 15 after kd successful rounds, 2k (H) nek=3. This implies that the above algorithm terminates in at most 3d lnn successful rounds. Since each round takes O(dd) time to compute xR and O(dn) time to compute V , the expected running time of the algorithm is O((d2n+dd+1) log n). By combining this algorithm with a randomized recursive algorithm, Clarkson improved the expected runn...

Multi-fingered regrasping using on-line grasping force optimization