A grasping force optimization algorithm with dynamic torque constraints selection for multi-fingered robotic hands

The problem of grasping force optimization (GFO) for a multi-fingered robotic hand is considered in this paper. The GFO problem is cast in a convex optimization problem, considering also joint torque constraints. A new algorithmic solution is proposed here, which is suitable to be implemented online. The proposed formulation allows a substantial reduction of the computational load of the problem by dynamically decreasing the number of active torque constraints. Moreover, differently from other approaches, the algorithm does not require the evaluation of a new initial point at the beginning of each optimization cycle. The effectiveness of the proposed method has been tested in a simulation case study where the grasping forces of a five-fingers robotic hand are modified online to cope with time-varying external forces applied to the object.