Title :
Stable grasp planning by evolutionary programming
Author :
Katada, Y. ; Svinin, M. ; Matsumura, Y. ; Ohkura, K. ; Ueda, K.
Author_Institution :
Dept. of Mech. Eng., Kobe Univ., Japan
Abstract :
This paper discusses the problem of planning of grasping by multifingered robot hand and proposes a method to solve it. The problem is formulated as an optimization task where the Lyapunov stability and the contact stability conditions are introduced using augmented Lagrangian multipliers. An evolutionary programming technique is used to solve the optimization problem. The effectiveness of the method proposed is illustrated on the computer simulation
Keywords :
Lyapunov methods; evolutionary computation; manipulators; optimal control; planning (artificial intelligence); stability criteria; Lyapunov stability; augmented Lagrangian multipliers; computer simulation; contact stability conditions; evolutionary programming; evolutionary programming technique; multifingered robot hand; optimization; optimization task; stable grasp planning; Fingers; Genetic programming; Grasping; Lagrangian functions; Mechanical engineering; Robot programming; Robot sensing systems; Robustness; Stability; Tensile stress;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972528
