Computation for maximum stable grasping in dynamic force distribution

DOI10.1007/s10846-012-9682-9zbMath1251.93087OpenAlexW2083762809MaRDI QIDQ1761270

Shuang-Quan Wen, Tie-Jun Wu

Publication date: 15 November 2012

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-012-9682-9

zbMATH Keywords

maximum stabilitydynamic force distributionfriction cone constraintsmulti-fingered graspingoptimal contact force

Mathematics Subject Classification ID

Nonlinear programming (90C30) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items

Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips

Uses Software

• Qhull

Cites Work

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• Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping
• The quickhull algorithm for convex hulls