Title :
Optimized planar grasping synthesis algorithm for multi-fingered robotic hand
Author :
Yu, Ze ; Gu, Jason
Author_Institution :
Dept. of Electr. & Comput. Eng., Dalhousie Univ., Halifax, NS, Canada
Abstract :
Grasp synthesis for multi-fingered robotic hand has drawn a lot of attention in the past a few years. How to find all feasible grasp candidates and how to evaluate those to find the best one are two mains topics in this field. In this paper, we proposed an optimized algorithm for searching grasp/hand configuration on planar objects and modified a set of quality measure criteria to rank all the grip candidates that can be found.
Keywords :
computational complexity; control system synthesis; dexterous manipulators; optimisation; real-time systems; stability; grip candidate stability; multifingered robotic hand; optimization algorithm; optimized planar grasping synthesis algorithm; quality measure criteria; real-time system; time complexity; Fingers; Grasping; Kinematics; Logistics; Orbital robotics; Robot sensing systems; Robot vision systems; Robotics and automation; Shape; Tactile sensors; Grasp Synthesis; Optimization; Quality Measurement; Robotic Hand;
Conference_Titel :
Automation and Logistics, 2009. ICAL '09. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4244-4794-7
Electronic_ISBN :
978-1-4244-4795-4
DOI :
10.1109/ICAL.2009.5262575
