Joint Torque Optimization for Grasp/Graspless Manipulation

摘要

Using both grasping and graspless manipulation, humans can manipulate objects dexterously. In order to realize human-like dexterity of robots with multi-fingered hands, we have to develop a manipulation theory applicable to both manipulations. This paper presents an algorithm of joint torque optimization for grasp/graspless manipulation. We extend Omata's method for joint torque computation for power grasps, so that it can be also applied to graspless manipulation. Moreover, in some cases, we can obtain no solution by Omata's method because it uses too restrictive a constraint on contact forces. Thus we derive a modified constraint and construct an improved procedure for joint torque optimization based on the new constraint. We show some numerical examples of joint torque optimization.