Optimal Control Simulations of Two-Finger Precision Grasps

Article in Edited Volumes
(Book chapter)


Publication Details

Author(s): Phutane U, Roller M, Björkenstam S, Leyendecker S
Editor(s): Andrés KecskeméthyFrancisco Geu Flores
Title edited volumes: Multibody Dynamics 2019
Publisher: Springer
Publication year: 2020
Title of series: Computational Methods in Applied Sciences
Volume: 53
Pages range: 60-67
ISSN: 1871-3033


Abstract

Grasping is a complex human activity performed with readiness through a complicated mechanical system as an end effector, i.e. the human hand. Here, we apply a direct transcription method of discrete mechanics and optimal control with constraints (DMOCC) to reproduce human-level grasping of an object with a three-dimensional model of the hand, actuated through joint control torques. The equations of motions describing the hand dynamics are derived from a discrete variational principle based on a discrete action functional, which gives the time integrator structure-preserving properties. The grasping action is achieved through a series of constraints, which generate a hybrid dynamical system with a given switching sequence and unknown switching times. To determine a favourable trajectory for grasping action, we solve an optimal control problem (ocp) with an objective involving either the contact polygon centroid or the control torques subject to discrete Euler-Lagrange equations, boundary conditions and path constraints.


FAU Authors / FAU Editors

Leyendecker, Sigrid Prof. Dr.-Ing.
Chair of Applied Dynamics
Phutane, Uday
Chair of Applied Dynamics


External institutions with authors

Fraunhofer-Chalmers Centre
Fraunhofer-Institut für Techno- und Wirtschaftsmathematik (ITWM) / Fraunhofer Institute for Industrial Mathematics


How to cite

APA:
Phutane, U., Roller, M., Björkenstam, S., & Leyendecker, S. (2020). Optimal Control Simulations of Two-Finger Precision Grasps. In Andrés KecskeméthyFrancisco Geu Flores (Eds.), Multibody Dynamics 2019. (pp. 60-67). Springer.

MLA:
Phutane, Uday, et al. "Optimal Control Simulations of Two-Finger Precision Grasps." Multibody Dynamics 2019. Ed. Andrés KecskeméthyFrancisco Geu Flores, Springer, 2020. 60-67.

BibTeX: 

Last updated on 2019-11-07 at 09:23