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Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

Published online by Cambridge University Press:  06 September 2021

Sourajit Mukherjee Open the ORCID record for Sourajit Mukherjee [Opens in a new window] ,
Abhijit Mahapatra Open the ORCID record for Abhijit Mahapatra [Opens in a new window] ,
Amit Kumar  and
Avik Chatterjee
Sourajit Mukherjee
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
Abhijit Mahapatra*
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
Amit Kumar
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
Avik Chatterjee
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
*
*Corresponding author. E-mail: [email protected]
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Abstract

A novel grasp optimization algorithm for minimizing the net energy utilized by a five-fingered humanoid robotic hand with twenty degrees of freedom for securing a precise grasp is presented in this study. The algorithm utilizes a compliant contact model with a nonlinear spring and damper system to compute the performance measure, called ‘Grasp Energy’. The measure, subject to constraints, has been minimized to obtain locally optimal cartesian trajectories for securing a grasp. A case study is taken to compare the analytical (applying the optimization algorithm) and the simulated data in MSC.Adams $^{^{\circledR}}$ , to prove the efficacy of the proposed formulation.

Keywords

humanoid robotic handgrasp-energyoptimal force distributioncompliant contactdynamic modeling
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1501 - 1526
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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