Optimal control simulations of two-finger grasps

Phutane U, Roller M, Leyendecker S (2022)


Publication Type: Journal article, Original article

Publication year: 2022

Journal

Book Volume: 167

Pages Range: 104508

Article Number: 104508

DOI: 10.1016/j.mechmachtheory.2021.104508

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 different physiological objectives subject to discrete Euler–Lagrange equations, boundary conditions and path constraints.

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APA:

Phutane, U., Roller, M., & Leyendecker, S. (2022). Optimal control simulations of two-finger grasps. Mechanism and Machine Theory, 167, 104508. https://doi.org/10.1016/j.mechmachtheory.2021.104508

MLA:

Phutane, Uday, Michael Roller, and Sigrid Leyendecker. "Optimal control simulations of two-finger grasps." Mechanism and Machine Theory 167 (2022): 104508.

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