DocumentCode
3404678
Title
Grasp planning of 3D objects using genetic algorithm
Author
Zhang, Zichen ; Gu, Jason
Author_Institution
Dept. of Electr. & Comput. Eng., Dalhousie Univ., Halifax, NS, Canada
fYear
2012
fDate
15-17 Aug. 2012
Firstpage
646
Lastpage
651
Abstract
In this paper, we apply genetic algorithm (GA) to the optimization problem in grasp planning. This method can be used to find “pregrasps” for 3D objects in arbitrary shape and different dexterous hands, which serve as the first step of a complete grasping action. Each component of the GA planner is discussed in detail. The proposed algorithm is implemented in GraspIt! simulator [1]. It is tested on different hand-object combinations and the result shows that genetic algorithm is effective in finding high-quality pregrasps.
Keywords
dexterous manipulators; genetic algorithms; object detection; robot vision; 3D objects; GA; arbitrary shape; dexterous hands; genetic algorithm; grasp planning; Biological cells; Genetic algorithms; Grasping; Optimization; Planning; Sociology; Statistics; Genetic Algorithm; Multifingered Hands; Robot Grasping;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation and Logistics (ICAL), 2012 IEEE International Conference on
Conference_Location
Zhengzhou
ISSN
2161-8151
Print_ISBN
978-1-4673-0362-0
Electronic_ISBN
2161-8151
Type
conf
DOI
10.1109/ICAL.2012.6308157
Filename
6308157
Link To Document