Grasping torque optimization for a dexterous robotic hand using the linearization of constraints

DOI10.1155/2019/5235109zbMath1435.90144OpenAlexW2989964336MaRDI QIDQ2298533

Yanyan Li

Publication date: 20 February 2020

Published in: Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2019/5235109

Mathematics Subject Classification ID

Numerical optimization and variational techniques (65K10) Interior-point methods (90C51) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cites Work

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• Neural networks for solving second-order cone constrained variational inequality problem
• A smoothed NR neural network for solving nonlinear convex programs with second-order cone constraints
• A polynomial-time interior-point method for circular cone programming based on kernel functions
• A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots
• Primal-dual interior-point algorithms for convex quadratic circular cone optimization
• Limiting and minimizing the contact forces in multifingered grasping
• Contact Mechanics
• Theoretical and experimental study of dynamic load‐carrying capacity for flexible robotic arms in point‐to‐point motion

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