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 the proposed method. The result when compared with a random search method shows that the proposed method finds more and better grasping configurations