Optimal control simulations of two-finger grasps

Phutane U, Roller M, Leyendecker S (2022)

Publication Type: Journal article, Original article

Publication year: 2022

Journal

Mechanism and Machine Theory Elsevier

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.

Authors with CRIS profile

Sigrid Leyendecker Institute of Applied Dynamics

Involved external institutions

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

How to cite

APA:

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