TY - JOUR
T1 - Stable grasp planning by evolutionary programming
AU - Katada, Yoshiaki
AU - Svinin, Mikhail
AU - Ohkura, Kazuhiro
AU - Ueda, Kanji
N1 - Funding Information:
Manuscript received February 26, 2001. Abstract published on the Internet June 6, 2001. This work was supported by the RIKEN Frontier Research Program and by the grant “Methodology for Emergent Synthesis,” Project 96P00702, Program of Japan Society for the Promotion of Science (JSPS) “Research for the Future.” Y. Katada, K. Ohkura, and K. Ueda are with the Mechanical Engineering Department, Kobe University, Kobe 657, Japan (e-mail: katada@mech.kobe-u.ac.jp).
PY - 2001/8
Y1 - 2001/8
N2 - This paper deals with the problem of synthesis of stable grasp by multifingered hands. First, a mathematical description of the problem is formulated. The grasp to be synthesized should satisfy equilibrium conditions and unilateral frictional constraints. In addition, it should be stable against disturbances applied to the object. Two types of stability conditions, contact stability and Lyapunov stability, are taken into consideration. Contact points, contact forces, and joint stiffnesses are considered as the problem variables. The objective function maximizes admissible linear and rotational disturbances applied to the object. Since the dimension and the complexity of the resulting constrained optimization problem is high enough, the evolutionary programming (EP) approach is explored. Two EP techniques, a conventional one and a specially designed robust technique with a genetic drift, are discussed. The feasibility of these techniques is verified for the synthesis of stable grasp by a three-fingered robotic hand.
AB - This paper deals with the problem of synthesis of stable grasp by multifingered hands. First, a mathematical description of the problem is formulated. The grasp to be synthesized should satisfy equilibrium conditions and unilateral frictional constraints. In addition, it should be stable against disturbances applied to the object. Two types of stability conditions, contact stability and Lyapunov stability, are taken into consideration. Contact points, contact forces, and joint stiffnesses are considered as the problem variables. The objective function maximizes admissible linear and rotational disturbances applied to the object. Since the dimension and the complexity of the resulting constrained optimization problem is high enough, the evolutionary programming (EP) approach is explored. Two EP techniques, a conventional one and a specially designed robust technique with a genetic drift, are discussed. The feasibility of these techniques is verified for the synthesis of stable grasp by a three-fingered robotic hand.
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U2 - 10.1109/41.937406
DO - 10.1109/41.937406
M3 - Article
AN - SCOPUS:0035422825
SN - 0278-0046
VL - 48
SP - 749
EP - 756
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 4
ER -