Stable grasp planning by evolutionary programming

Y. Katada, Mikhail Mikhailovich Svinin, Y. Matsumura, K. Ohkura, K. Ueda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Pages1680-1685
Number of pages6
Volume1
DOIs
Publication statusPublished - Jan 1 2000

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Katada, Y., Svinin, M. M., Matsumura, Y., Ohkura, K., & Ueda, K. (2000). Stable grasp planning by evolutionary programming. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 1680-1685). [972528] IEEE Computer Society. https://doi.org/10.1109/IECON.2000.972528