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
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