2d object grasp and manipulation simulation, non-prehensile grip

This animation is part of ongoing work of mine dealing with the problems of manipulation and locomotion. We are almost complete with prototype biomimetic robotic finger modules, and this is one of the algorithms I will be using to control them. Here we see three robotic manipulators grasping an object then applying forces in order to track a reference trajectory (position and orientation). The simulation is solving a model predictive nonlinear stochastic optimal control problem in realtime. This is achieved by breaking the problem down into a hierarchical but interconnected structure. Please see the first paper on the topic if you are interested in reading more. Papers can be found on my website: www.casimpkinsjr.radiantdolphinpress.com