A bundle trust region method for optimal grasp planning of multi-fingered robot hand

被引：0
|
作者：
Yin, Yingjie
Tamura, Kazuya
Hosoe, Shigeyuki
机构：
来源：
2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3 | 2006年
关键词：
grasp planning; nondifferentiable optimization; bundle trust region method;
D O I：
10.1109/ROBIO.2006.340337
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
How to plan a proper set of contact points on an object so as to maximize the grasp capability is a common but generally difficult problem because of its nondifferentiable complexity. In current literature, subgradient method is commonly used in grasp planning. However, it converges slowly and requires much iteration to reach an optimum. In this study, we adapt the bundle trust region (BTR) method to the synthesis problem for more fast convergence and short computation time. Numerical tests validate the effectiveness of this new trial of BTR to the grasp planning.
引用
收藏
页码：884 / 889
页数：6
相关论文
共 50 条
  • [1] Datag love based grasp planning for multi-fingered robot hand
    Liu, J
    Zhang, YR
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 1827 - 1831
  • [2] A Task Compatibility Index for Multi-fingered Robot Hand Grasp Planning
    Liu, Qingyun
    ADVANCED DESIGN AND MANUFACTURE TO GAIN A COMPETITIVE EDGE: NEW MANUFACTURING TECHNIQUES AND THEIR ROLE IN IMPROVING ENTERPRISE PERFORMANCE, 2008, : 653 - 661
  • [3] Grasp planning of multi-fingered robot hands
    Liu, YH
    PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION, 2004, : 350 - 355
  • [4] Analysis Grasp Stability for Multi-fingered Robot Hand
    Kim, Eun-Hye
    Lim, Myo-Taeg
    Lee, Yong-Kwun
    INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010), 2010, : 1456 - 1461
  • [5] Efficient models for grasp planning with a multi-fingered hand
    Saut, Jean-Philippe
    Sidobre, Daniel
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2012, 60 (03) : 347 - 357
  • [6] Grasp Planning for Multi-fingered Hand in Blind Grasping
    Xu, Xiubo
    Li, Yongyao
    Du, Yu
    Cong, Ming
    Liu, Dong
    2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 652 - 657
  • [7] Grasp planning for multi-fingered hand based on task compatibility
    Southeast University, Nanjing 210096, China
    Zhongguo Jixie Gongcheng, 2006, 21 (2229-2232):
  • [8] OPTIMAL GRASP PLANNING OF MULTI-FINGERED ROBOTIC HANDS: A REVIEW
    Miao, Wei
    Li, Gongfa
    Jiang, Guozhang
    Fang, Yinfeng
    Ju, Zhaojie
    Liu, Honghai
    APPLIED AND COMPUTATIONAL MATHEMATICS, 2015, 14 (03) : 238 - 247
  • [9] Analysis and Grasp Strategy Modeling for Underactuated Multi-fingered Robot Hand
    Yao, Shuangji
    Zhan, Qiang
    Ceccarelli, Marco
    Carbone, Giuseppe
    Lu, Zhen
    2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 2817 - +
  • [10] Grasp planning analysis and strategy modeling for underactuated multi-fingered robot hand using in fruits grasping
    Li Shanjun
    Shuangji Yao
    Zhang Yanlin
    Meng Liang
    Lu Zhen
    AFRICAN JOURNAL OF AGRICULTURAL RESEARCH, 2011, 6 (09): : 2086 - 2098
12345