A cooperative genetic approach for calculating trajectories of robotic hand fingers
DOI:
https://doi.org/10.30973/progmat/2014.6.2/4Keywords:
metaheuristic, genetic algorithm, grasped object, roboticAbstract
This paper describes the implementation of a cooperative genetic algorithm for computing fingers trajectories of a configurable robotic hand in order to grasping 2D objects. From a common goal, a set of coordinated movements are established, in order to achieve the goal. The characteristics of the grasped object, which involves both the determination of the contact points, and the definition of the trajectories of the fingers to achieve those points are described. Algorithms for grasping and construction of trajectories are presented and experimental results are shown.
References
Mishha, B., Silver, N. Some discussion of static gripping and its stability. IEEE Transactions on Systems, Man and Cybernetics. 1989, 19 (1), 783-796. https://doi.org/10.1109/21.35342
Kerr, J., Roth, B. Analysis of multifingered hand. International Journal of Robotics Research. 1989, 4 (4), 3-17. https://doi.org/10.1177/027836498600400401
Han, L., Trinkle, J. C., Li, Z. X. Grasp analysis as linear matrix inequality problems. IEEE Transactions on Robotics and Automation. 2000, 16 (6), 663-674. https://doi.org/10.1109/70.897778
Michelman, P. Precision object manipulation with a multifingered robot hand. IEEE Transactions on Robotics and Automation. 1998, 14 (1), 105-113. https://doi.org/10.1109/70.660851
Muñoz, L. A., Bard, C., Nájera, J. A. Dexterous manipulation: A geometrical reasoning point of view. Proceedings of the 1995 International Conference on Robotics and Automation (ICRA). 1995, (1), 458-463. https://doi.org/10.1109/ROBOT.1995.525326
Bicchi, A. Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. IEEE Transactions on Robotics and Automation. 2000, 16 (6), 652-662. https://doi.org/10.1109/70.897777
Overgaard, L., Nelson, B. J., Khosla, P. K. A multiagent framework for grasping using visual servoing and collision avoidance. Proceedings of the 1996 International Conference on Robotics and Automation (ICRA). 1996, (3), 2456-2461. https://doi.org/10.1109/ROBOT.1996.506532
Muñoz, L.A., Doersam, Th. Simple Object Manipulation with dexterous hands. IFAC – International Conference of Industrial Systems. Belfort, France, 20-22 May 1997.
Michalewicz, Z., Michalewicz, M. Evolutionary Computation, techniques and their Applications. Proceedings of the 1997 IEEE International Conference on Intelligent Processing Systems (ICIPS’97). 1997, (1), 14-25. https://doi.org/10.1109/ICIPS.1997.672732
De la Cueva, V., Ramos, F. Cooperative genetic algorithms: a new approach to solve the path planning problem for cooperative robotic manipulators sharing the same work space. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. 1998, (1), 267-272. https://doi.org/10.1109/IROS.1998.724630
Ponce, J., Sullivan, S., Sudsang, A., Boissonnat, J.D., Merlet, J.P. On computing four-finger equilibrium and force-closure grasps of polyhedral objects. International Journal of Robotics Research. 1997, 16 (1), 11-35. https://doi.org/10.1177/027836499701600102
Teichmann, M. Grasping and fixturing. Tesis doctoral. New York: New York University, 1995.
Liu, Y. H. Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming. IEEE Transactions on Robotics and Automation. 1999, 15 (1), 163-173. https://doi.org/10.1109/70.744611
Gill, M.A., Zomaya, A.Y. Obstacle voidance in multi-robot systems: Experiments in parallel genetic algorithms. World Scientific Publishing, 1998.
Mazer, E., Ahuactzin, J.M., Bessiere, P. The Ariadne’s clew algorithm. Journal of Artificial Intelligence Research (JAIR). 1998, 9, 295-316. https://doi.org/10.1613/jair.468
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2014 Rafael Rivera López, Fernando Ramos Quintana , Luis Alberto Muñoz Ubando
This work is licensed under a Creative Commons Attribution 4.0 International License.
Usted es libre de:
Compartir — compartir y redistribuir el material publicado en cualquier medio o formato. |
Adaptar — combinar, transformar y construir sobre el material para cualquier propósito, incluso comercialmente. |
Bajo las siguientes condiciones:
Atribución — Debe otorgar el crédito correspondiente, proporcionar un enlace a la licencia e indicar si se realizaron cambios. Puede hacerlo de cualquier manera razonable, pero de ninguna manera que sugiera que el licenciador lo respalda a usted o a su uso. |
Sin restricciones adicionales: no puede aplicar términos legales o medidas tecnológicas que restrinjan legalmente a otros a hacer cualquier cosa que permita la licencia. |