A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots

DOI10.1007/s40305-017-0161-7zbMath1390.90573OpenAlexW2605967204MaRDI QIDQ1706679

Yan-Qin Bai, Xue-Rui Gao, Chang Jun Yu

Publication date: 28 March 2018

Published in: Journal of the Operations Research Society of China (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s40305-017-0161-7

zbMATH Keywords

numerical testsprimal-dual interior-point algorithmcircular cone programminggrasping manipulation

Mathematics Subject Classification ID

Numerical mathematical programming methods (65K05) Interior-point methods (90C51)

Related Items (2)

Grasping force optimization for multi-fingered robotic hands using projection and contraction methods ⋮ Grasping torque optimization for a dexterous robotic hand using the linearization of constraints

Cites Work

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• A full Nesterov-Todd step infeasible interior-point method for second-order cone optimization
• A polynomial-time interior-point method for circular cone programming based on kernel functions
• Extension of primal-dual interior point algorithms to symmetric cones
• Primal-dual interior-point algorithms for convex quadratic circular cone optimization
• Grasping force based manipulation for multifingered hand-arm robot using neural networks

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