Stable grasp planning by evolutionary programming
Katada, Y.
Svinin, M.
Ohkura, K.
Ueda, K.
Dept. of Mech. Eng., Kobe Univ.;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Aug 2001
Volume: 48,
Issue: 4
On page(s): 749-756
ISSN: 0278-0046
References Cited: 25
CODEN: ITIED6
INSPEC Accession Number: 7007127
Digital Object Identifier: 10.1109/41.937406
Current Version Published: 2002-08-07
Abstract
This paper deals with the problem of synthesis of stable grasp by
multifingered hands. First, a mathematical description of the problem is
formulated. The grasp to be synthesized should satisfy equilibrium
conditions and unilateral frictional constraints. In addition, it should
be stable against disturbances applied to the object. Two types of
stability conditions, contact stability and Lyapunov stability, are
taken into consideration. Contact points, contact forces and joint
stiffnesses are considered as the problem variables. The objective
function maximizes admissible linear and rotational disturbances applied
to the object, Since the dimension and the complexity of the resulting
constrained optimization problem is high enough, the evolutionary
programming (EP) approach is explored. Two EP techniques, a conventional
one and a specially designed robust technique with a genetic drift, are
discussed. The feasibility of these techniques is verified for the
synthesis of stable grasp by a three-fingered robotic hand
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