Grasping-force optimization for multifingered robotic hands using a recurrent neural network

@article{Xia2004GraspingforceOF,
  title={Grasping-force optimization for multifingered robotic hands using a recurrent neural network},
  author={Youshen Xia and Jun Wang and Lo Ming Fok},
  journal={IEEE Transactions on Robotics and Automation},
  year={2004},
  volume={20},
  pages={549-554}
}
Grasping-force optimization of multifingered robotic hands can be formulated as a problem for minimizing an objective function subject to form-closure constraints and balance constraints of external force. This paper presents a novel recurrent neural network for real-time dextrous hand-grasping force optimization. The proposed neural network is shown to be globally convergent to the optimal grasping force. Compared with existing approaches to grasping-force optimization, the proposed neural… CONTINUE READING
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