Quadratically convergent algorithms for optimal dextrous hand grasping
نویسندگان
چکیده
منابع مشابه
Quadratically convergent algorithms for optimal dextrous hand grasping
There is a robotic balancing task, namely real-time dextrous-hand grasping, for which linearly constrained, positive definite programming gives a quite satisfactory solution from an engineering point of view. We here propose refinements of this approach to reduce the computational effort. The refinements include elimination of structural constraints in the positive definite matrices, orthogonal...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 2002
ISSN: 1042-296X
DOI: 10.1109/tra.2002.999643