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  4. Optimal Control Simulations of Two-Finger Precision Grasps
 
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2020
Conference Paper
Title

Optimal Control Simulations of Two-Finger Precision Grasps

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.
Author(s)
Phutane, U.
Chair of Applied Dynamics, Friedrich-Alexander-Universität Erlangen-Nürnberg
Roller, M.
Fraunhofer-Institut für Techno- und Wirtschaftsmathematik ITWM  
Björkenstam, S.
Fraunhofer-Chalmers Reseach Centre for Industrial Mathematics FCC  
Leyendecker, S.
Chair of Applied Dynamics, Friedrich-Alexander-Universität Erlangen-Nürnberg
Mainwork
Multibody Dynamics 2019  
Conference
Thematic Conference on Multibody Dynamics 2019  
DOI
10.1007/978-3-030-23132-3_8
Language
English
FCC  
Fraunhofer-Institut für Techno- und Wirtschaftsmathematik ITWM  
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