Biologically inspired robot grasping using genetic programming

Abstract

Abstract

James: A Humanoid Robot Acting over an Unstructured World

“…As far as the hand movement is concerned, in the experiment described in this paper, the grasping action used, even if effective, is still very simple: fingers are just driven to a generic closed posture, wrapping the object by means of the elastic actuation system. Following cues from existing examples [12], future development include the implementation of a system for choosing the best grasping action among a series of basic motor synergies, combining some of them, in trying to maximize the number of stimulated tactile sensors and hence obtaining a more comprehensive and effective object perception. Of course, in order to show this ability of evaluation and improvement of performances (i.e.…”

Intelligent Control of Robotic Systems

“…One of the important applications of GA in robotics is represented by the problem of object grasping with a multi-finger robot hand [72], [74], [87]. Recently, the focus has been on the effectiveness of regrasping, which enables the hand to change the contact point in grasping.…”

Grasp planning of 3D objects using genetic algorithm

“…In the second stage, the hand is moved toward the object with the approach direction specified by the pre-grasp and then fingers are closed to conform to the surface of the object to complete the whole grasp action. J.J Fernandez et al has proposed using GA in the heuristic grasp planning for three-fingered robot hands [8]. Their work had some limitations.…”