DocumentCode
2758111
Title
Computing 4-Fingered Force-Closure Grasps from surface Points Using Genetic Algorithm
Author
Sangkhavijit, Chalermsub ; Niparnan, Nattee ; Chongstitvatana, Prabhas
Author_Institution
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok
fYear
2006
fDate
Dec. 2006
Firstpage
1
Lastpage
5
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
Keywords
dexterous manipulators; genetic algorithms; manipulator dynamics; 4-fingered force-closure grasp computation; evolutionary computation; genetic algorithm; grasp planning; surface points; Fingers; Fixtures; Friction; Genetic algorithms; Genetic engineering; Grasping; Search methods; Shape; Solid modeling; Testing; force-closure grasp; genetic algorithm; grasp planning;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/RAMECH.2006.252746
Filename
4018862
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