Optimal control simulations of two-finger precision grasps

Phutane U, Roller M, Björkenstam S, Leyendecker S (2019)

Publication Type: Conference contribution, Conference Contribution

Publication year: 2019

Publisher: Springer

Edited Volumes: Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics

Pages Range: 60-67

Conference Proceedings Title: Proceedings of the ECCOMAS Thematic Conference on Mutlibody Dynamics

Event location: Duisburg

ISBN: 978-3-030-23132-3

DOI: 10.1007/978-3-030-23132-3_8

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.

Authors with CRIS profile

Uday Phutane Institute of Applied Dynamics Sigrid Leyendecker Institute of Applied Dynamics

Related research project(s)

Optimal control of biomechanical MBS-Digital Human Models for simulation in the virtual assembly planning (MKS-Menschenmodelle) Nov. 1, 2015 - March 31, 2018

Involved external institutions

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

Germany (DE) Fraunhofer-Chalmers Centre

Sweden (SE)

How to cite

APA:

Phutane, U., Roller, M., Björkenstam, S., & Leyendecker, S. (2019). Optimal control simulations of two-finger precision grasps. In Proceedings of the ECCOMAS Thematic Conference on Mutlibody Dynamics (pp. 60-67). Duisburg, DE: Springer.

MLA:

Phutane, Uday, et al. "Optimal control simulations of two-finger precision grasps." Proceedings of the ECCOMAS Thematic Conference on Mutlibody Dynamics, Duisburg Springer, 2019. 60-67.

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