Fast computation of optimal contact forces

IEEE Transactions on Robotics

Volumn 23, Issue 6, 2007, Pages 1117-1132

  Boyd, Stephen P ^a   Wegbreit, Ben ^b  

^a Stanford University   (United States)

^b CEO Strider Labs Inc   (United States)

Author keywords

Convex optimization; Force closure; Friction cone; Grasp force; Interior point method; Second order cone program (SOCP)

Indexed keywords

ALGORITHMS; FORCE MEASUREMENT; FRICTION; TORQUE;

FORCE OPTIMIZATION PROBLEM; POINT-CONTACT FRICTION MODEL; SECOND-ORDER CONE PROBLEM; SEMIDEFINITE PROGRAMMING PROBLEM;

OPTIMIZATION;

EID: 37549027183     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.910774     Document Type: Article

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