Optimal multifingered grasp synthesis
- 17 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1937-1942
- https://doi.org/10.1109/robot.1994.351178
Abstract
This paper discusses how grasp synthesis can be cast asa control composition problem. Two elemental graspcontrollers are presented and composed into a generalpurpose grasp controller through the use of standardoptimal control techniques. The resulting grasp synthesisprocedure is scalable on the number of contacts,is not tied to any specific object representation scheme,and can incorporate kinematic constraints into its resolution.1 IntroductionGrasp synthesis, as idealized by most...Keywords
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