Task-Oriented Real-Time Optimization Method of Dynamic Force Distribution for Multi-Fingered Grasping

The dynamic force distribution is significant in multi-fingered hand operation. It is essential to choose the appropriate contact force between fingers and object to ensure both stability and power consumption requirements corresponding to the specific task. We describe nonlinear contact force distribution problems as smooth manifold optimization problems corresponding to a linearly constrained positive definite matrix. A quadratic index gradient flow approach is presented to optimize the contact force based on a low-dimensional description matrix. And, a task-oriented contact stability criterion is proposed to evaluate contact stability. A simple selection method of the weight parameters of the objective function is provided for the specified contact stability criterion. The proposed algorithm has better force optimization results and fewer iterations than the traditional gradient flow optimization algorithm under the same stability condition. Numerical examples demonstrate the correctness and effectiveness of the algorithm. The proposed method of dynamic force distribution can be used for the real-time application of multi-fingered grasping and manipulation.