Acquisition method of regrasping motion with tolerance for object size

We have studied generation method of regrasping motion for four-fingered robot using evolutionary programming (EP). EP has advantage of finding the alley of optimal numerical values but it requires much iteration to find it. This obtained regrasping strategy can not be applied to the other shaped-object except an object used in finding process. Therefore the generated regrasping strategy by EP should be reused for other sized-object. In this paper we proposed the adaptation algorithm for different size of grasping object. We show the effectiveness of the method with the experimental results