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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| creator | Sangkhavijit, C. Niparnan, N. Chongstitvatana, P. |
| description | 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 |
| doi_str_mv | 10.1109/RAMECH.2006.252746 |
| format | Conference Proceeding |
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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</description><subject>Fingers</subject><subject>Fixtures</subject><subject>force-closure grasp</subject><subject>Friction</subject><subject>genetic algorithm</subject><subject>Genetic algorithms</subject><subject>Genetic engineering</subject><subject>grasp planning</subject><subject>Grasping</subject><subject>Search methods</subject><subject>Shape</subject><subject>Solid modeling</subject><subject>Testing</subject><issn>2158-2181</issn><isbn>1424400244</isbn><isbn>9781424400249</isbn><isbn>1424400252</isbn><isbn>9781424400256</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFjF1LwzAYRiMqOOf-gN7kD7S-SdN8XJaydcJEke16JGk6I_0i6S7893YoeHU4D5wHoUcCKSGgnj-K13W5TSkAT2lOBeNX6J4wyhjA7Nf_wtgNWlCSy4QSSe7QKsYvAMiIVABkgQ7l0I3nyfcnzJLNDBdcjTdDsC4p2yGeg8NV0HGMuAlDh-eh0dbh98H3U8SHeCkr17vJW1y0pyH46bN7QLeNbqNb_XGJ9pv1vtwmu7fqpSx2iVcwJdQo1VAjG8u0zjivOTWWc5NxbYQwFIRUjGgtG1FLmxsC9ZzUOVChRG7zbImefm-9c-44Bt_p8H1kQKTkNPsBWqlS1g</recordid><startdate>200612</startdate><enddate>200612</enddate><creator>Sangkhavijit, C.</creator><creator>Niparnan, N.</creator><creator>Chongstitvatana, P.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200612</creationdate><title>Computing 4-Fingered Force-Closure Grasps from surface Points Using Genetic Algorithm</title><author>Sangkhavijit, C. ; Niparnan, N. ; Chongstitvatana, P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-2b99f2b8fc4aa366d62bc66b36ab77b2078941aa8f7d8c5b10d2b9d5027975c53</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Fingers</topic><topic>Fixtures</topic><topic>force-closure grasp</topic><topic>Friction</topic><topic>genetic algorithm</topic><topic>Genetic algorithms</topic><topic>Genetic engineering</topic><topic>grasp planning</topic><topic>Grasping</topic><topic>Search methods</topic><topic>Shape</topic><topic>Solid modeling</topic><topic>Testing</topic><toplevel>online_resources</toplevel><creatorcontrib>Sangkhavijit, C.</creatorcontrib><creatorcontrib>Niparnan, N.</creatorcontrib><creatorcontrib>Chongstitvatana, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Sangkhavijit, C.</au><au>Niparnan, N.</au><au>Chongstitvatana, P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Computing 4-Fingered Force-Closure Grasps from surface Points Using Genetic Algorithm</atitle><btitle>2006 IEEE Conference on Robotics, Automation and Mechatronics</btitle><stitle>RAMECH</stitle><date>2006-12</date><risdate>2006</risdate><spage>1</spage><epage>5</epage><pages>1-5</pages><issn>2158-2181</issn><isbn>1424400244</isbn><isbn>9781424400249</isbn><eisbn>1424400252</eisbn><eisbn>9781424400256</eisbn><abstract>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</abstract><pub>IEEE</pub><doi>10.1109/RAMECH.2006.252746</doi><tpages>5</tpages></addata></record> |
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| issn | 2158-2181 |
| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Fingers Fixtures force-closure grasp Friction genetic algorithm Genetic algorithms Genetic engineering grasp planning Grasping Search methods Shape Solid modeling Testing |
| title | Computing 4-Fingered Force-Closure Grasps from surface Points Using Genetic Algorithm |
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