Title :
Planning Optimal Force-Closure Grasps for Curved Objects by Genetic Algorithm
Author :
Phoka, Thanathorn ; Niparnan, Nattee ; Sudsang, Attawith
Author_Institution :
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok
Abstract :
This paper describes the use of genetic algorithm to solve the problem of planning optimal force-closure grasps on 2D and 3D objects. The proposed approach searches for optimal grasps from parametric curves of a 2D object or parametric surfaces of a 3D object. The search method is based on the concept of Q distance which can guide the search direction to better solutions. On this metric, genetic algorithm can exploit the characteristic of Q distance to find optimal grasps by directly using the computation of Q distance as the fitness function. This approach is applied to plan optimal force-closure grasps on 2D and 3D curved objects with three and four contact points respectively. Preliminary results are also presented
Keywords :
computational geometry; genetic algorithms; path planning; 2D curved object; 3D curved object; Q distance; genetic algorithm; optimal force-closure grasp; parametric curve; Fingers; Genetic algorithms; Genetic engineering; Humanoid robots; Linear programming; Position measurement; Resists; Search methods; Testing;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252683