Abstract
Based on the Buss, Hashimoto and Moore (BHM) observation and a detailed analysis of the structure of the symmetric positive definite matrices arising from the friction cone constraints, the friction cone constraints are further extended into linear matrix inequalities (LMIs). Following this, the basic grasp analysis problems are formulated as a set of convex optimization problems involving LMIs. Through simulation studies, the simplicity and efficiency of the LMI formulation to the problems of grasping and manipulation by multifingered robotic hands are demonstrated.
| Original language | English |
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| Pages (from-to) | 1261-1268 |
| Number of pages | 8 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| Publication status | Published - 1999 |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 10 May 1999 → 15 May 1999 |