Computing 4-Fingered Force-Closure Grasps from surface Points Using Genetic Algorithm

Computing 4-Fingered Force-Closure Grasps from surface Points Using Genetic Algorithm

This paper proposes an evolutionary computation method to compute force-closure grasps from surface points. The object is presented as set of points. The proposed method searches for grasping configurations without prior knowledge of object's geometry. The experiment is carried out to validate...

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Hauptverfasser: Sangkhavijit, C., Niparnan, N., Chongstitvatana, P.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Fingers
Fixtures
force-closure grasp
Friction
genetic algorithm
Genetic algorithms
Genetic engineering
grasp planning
Grasping
Search methods
Shape
Solid modeling
Testing
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Beschreibung
Zusammenfassung:This paper proposes an evolutionary computation method to compute force-closure grasps from surface points. The object is presented as set of points. The proposed method searches for grasping configurations without prior knowledge of object's geometry. The experiment is carried out to validate the proposed method. The result when compared with a random search method shows that the proposed method finds more and better grasping configurations
ISSN:2158-2181
DOI:10.1109/RAMECH.2006.252746