An inexact multiblock alternating direction method for grasping-force optimization of multifingered robotic hands

Abstract

Abstract In this paper, we present an inexact multiblock alternating direction method for the point-contact friction model of the force-optimization problem (FOP). The friction-cone constraints of the FOP are reformulated as the Cartesian product of circular cones. We focus on the convex quadratic circular-cone programming model of the FOP, which is an exact cone-programming model. Coupled with the separable convex quadratic objective function, we recast the circular-cone-programming model as a multiblock separable cone model. A parallel inexact multiblock alternating direction method is used to solve the FOP. We prove the global convergence of the proposed method. Simulation results of the three-fingered FOP are reported, which verified the efficiency of the proposed method.

Keywords

• Circular-cone programming
• Second-order cone programming
• Alternating direction method
• SeDuMi software