Application of Linear Programming to Force Closure
Date and Time
2022-07-29 10:00 오전
Place
22319 (off-line)
Speaker(s)
Hong Youngjin
Overview
I introduce the basic concepts of force closure and linear programming, and how linear programming can be applied to determine force-closure grasp. Moreover, simplex algorithm as one of diverse linear programming methods is explained, and all these pieces of explanation are summarized in a code example.
YouTube
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Reference(s)
Miller, A. T., & Allen, P. K. (2004). Graspit! a versatile simulator for robotic grasping. IEEE Robotics & Automation Magazine, 11(4), 110-122.
K. Mulmuley, Computational Geometry. Englewwod Cliffs, NJ: Prentice-Hall, 1994.
Murray, R. M., Li, Z., & Sastry, S. S. (2017). A mathematical introduction to robotic manipulation. CRC press.
Liu, Y. H. (1999). Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming. IEEE Transactions on Robotics and Automation, 15(1), 163-173.
K. Mulmuley, Computational Geometry. Englewwod Cliffs, NJ: Prentice-Hall, 1994.
K. Mulmuley, Computational Geometry. Englewwod Cliffs, NJ: Prentice-Hall, 1994.
Murray, R. M., Li, Z., & Sastry, S. S. (2017). A mathematical introduction to robotic manipulation. CRC press.
Liu, Y. H. (1999). Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming. IEEE Transactions on Robotics and Automation, 15(1), 163-173.
K. Mulmuley, Computational Geometry. Englewwod Cliffs, NJ: Prentice-Hall, 1994.
Seminar Material
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Yes.
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