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2 results

  • Optimizing motion trajectories of dextrous fingers by dynamic programming technique

  • Ali Meghdari, Hassan Sayyaadi
  • Journal:
    Robotica / Volume 10 / Issue 5 / September 1992
    Published online by Cambridge University Press:
    09 March 2009, pp. 419-426

  • An optimization technique based on the well known Dynamic Programming Algorithm is applied to the motion control trajectories and path planning of multi-jointed fingers in dextrous hand designs. A three-fingered hand with each finger containing four degrees of freedom is considered for analysis. After generating the kinematics and dynamics equations of such a hand, optimum values of the joints torques and velocities are computed such that the finger-tips of the hand are moved through their prescribed trajectories with the least time or/and energy to reach the object being grasped. Finally, optimal as well as feasible solutions for the multi-jointed fingers are identified and the results are presented.

  • Locally bounded k-colorings of trees

  • C. Bentz, C. Picouleau
  • Journal:
    RAIRO - Operations Research / Volume 43 / Issue 1 / January 2009
    Published online by Cambridge University Press:
    28 January 2009, pp. 27-33
    Print publication:
    January 2009

  • Given a tree T with n vertices, we show, by using a dynamicprogramming approach, that the problem of finding a 3-coloring ofT respecting local (i.e., associated with p prespecified subsetsof vertices) color bounds can be solved in O(n6p-1 logn)time. We also show that our algorithm can be adapted to the case ofk-colorings for fixed k.