Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets

Abstract

In this paper, we deal with an optimization of grasping when we not only resist an external force applied to a grasped object but also generate a desirable acceleration of the object. Based on the concept of required external force set, we define required acceleration and equilibrium-force sets. By using the sets, we define an optimization problem from the viewpoint of decreasing the magnitudes of the joint torques required to generate the acceleration and the equilibrium-force, and show that we can solve the problem by using a branch-and-bound method. We also present numerical examples in order to show the validity of our approach.