Real-time grasping-force optimization for multifingered manipulation: Theory and experiments

IEEE/ASME Transactions on Mechatronics

Volumn 9, Issue 1, 2004, Pages 65-77

  Liu, Guanfeng ^a   Li, Zexiang ^a  

^a HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

Friction cone constraint; Grasping force optimization; Linear matrix inequality; Max det problem

Indexed keywords

ALGORITHMS; FORCE CONTROL; GRADIENT METHODS; GRIPPERS; MANIPULATORS; MATRIX ALGEBRA; OPTIMIZATION; REAL TIME SYSTEMS;

DEXTROUS MANIPULATION; FRICTION CONE CONSTRAINT; LINEAR MATRIX INEQUALITY; MULTIFINGERED MANIPULATION;

END EFFECTORS;

EID: 1942453932     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2004.823879     Document Type: Article

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