Weighted Barrier Functions for Computation of Force Distributions with Friction Cone Constraints

被引：12

作者：

Borgstrom, Per Henrik ^{[1
]}

Batalin, Maxim A. ^{[3
]}

Sukhatme, Gaurav S. ^{[2
]}

Kaiser, William J. ^{[1
]}

机构：

[1] Univ Calif Los Angeles, Dept Elect Engn, Los Angeles, CA 90024 USA

[2] Univ Southern California, Dept Comp Sci, Los Angeles, CA USA

[3] Univ Calif Los Angeles, Ctr Embedded Networked Sensing, Los Angeles, CA USA

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

基金：

美国国家科学基金会;

关键词：

OPTIMIZATION; HANDS;

D O I：

10.1109/ROBOT.2010.5509833

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a novel Weighted Barrier Function (WBF) method of efficiently computing optimal grasping force distributions for multifingered hands. Second-order conic friction constraints are not linearized, as in many previous works. The force distributions are smooth and rapidly computable, and they enable flexibility in selecting between firm, stable grasps or looser, more efficient grasps. Furthermore, fingers can be disengaged and re-engaged in a smooth manner, which is a critical capability for a large number of manipulation tasks. We present efficient solution methods that do not incur the increased computational complexity associated with solving the Semi-Definite Programming formulations presented in previous works. We present results from static and dynamic simulations which demonstrate the flexibility and computational efficiency associated with WBF force distributions.

引用

页码：785 / 792

页数：8