DocumentCode
2029888
Title
Stable grasp planning by evolutionary programming
Author
Katada, Y. ; Svinin, M. ; Matsumura, Y. ; Ohkura, K. ; Ueda, K.
Author_Institution
Dept. of Mech. Eng., Kobe Univ., Japan
Volume
3
fYear
2000
fDate
2000
Firstpage
1680
Abstract
This paper discusses the problem of planning of grasping by multifingered robot hand and proposes a method to solve it. The problem is formulated as an optimization task where the Lyapunov stability and the contact stability conditions are introduced using augmented Lagrangian multipliers. An evolutionary programming technique is used to solve the optimization problem. The effectiveness of the method proposed is illustrated on the computer simulation
Keywords
Lyapunov methods; evolutionary computation; manipulators; optimal control; planning (artificial intelligence); stability criteria; Lyapunov stability; augmented Lagrangian multipliers; computer simulation; contact stability conditions; evolutionary programming; evolutionary programming technique; multifingered robot hand; optimization; optimization task; stable grasp planning; Fingers; Genetic programming; Grasping; Lagrangian functions; Mechanical engineering; Robot programming; Robot sensing systems; Robustness; Stability; Tensile stress;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location
Nagoya
Print_ISBN
0-7803-6456-2
Type
conf
DOI
10.1109/IECON.2000.972528
Filename
972528
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