Planning optimal force-closure grasps for curved objects

被引：2
|
作者：
Phoka, Thanathorn [1 ]
Niparnan, Nattee [1 ]
Sudsang, Attawith [1 ]
机构：
[1] Chulalongkorn Univ, Fac Engn, Dept Comp Engn, Bangkok 10330, Thailand
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年
关键词：
D O I：
10.1109/ROBIO.2006.340295
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the use of various optimization algorithms for solving the problem of planning optimal three-finger force-closure grasps on curved objects. The optimization aims at minimizing the Q distance function which had been shown in the literature to directly reflect quality of grasps and possess function's smoothness suitable for optimization processes. Four optimization methods including Genetic Algorithm, Evolution Strategy, conjugate gradient method and downhill simplex method are investigated. Experimental results are presented along with efficiency comparison of the selected methods.
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页码：721 / +
页数：2
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