Optimal control simulations of two-finger precision grasps

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Phutane U, Roller M, Björkenstam S, Leyendecker S
Title edited volumes: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics
Publisher: Springer
Publication year: 2019
Conference Proceedings Title: ECCOMAS
Pages range: 60-67
ISBN: 978-3-030-23132-3
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 vari- ational principle based on a discrete action functional, which gives the time integra- tor 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 in- volving 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. (2019). Optimal control simulations of two-finger precision grasps. In ECCOMAS (pp. 60-67). Springer.

MLA:
Phutane, Uday, et al. "Optimal control simulations of two-finger precision grasps." Proceedings of the ECCOMAS 2019 Springer, 2019. 60-67.

BibTeX: 

Last updated on 2019-10-09 at 13:08