A Particle Swarm Optimization Algorithm for the Grasp Planning Problem

Chiraz Walha, Hala Bezine, Adel M. Alimi

2012

Abstract

Computing a set of contact points between a robotic hand and an object in order to fulfill some criteria is the main problem of the grasp planning. An automatic grasp planning can produce a set of joint angles defining a configuration of the robotic hand. The huge number of solutions that satisfy a good grasp is the main difficulty of such a planner. In this paper, we represent the grasp planning problem as an optimization problem and we propose a new algorithm based on a Particle Swarm Optimization (PSO) technique. To generate the positions of the fingertips, the kinematic of the hand is modeled. Therefore, a simple PSO algorithm is described to optimize the workspace of the operating hand based on a quality of measure of the grasp. The simulation results support the effectiveness of our approach.

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Paper Citation


in Harvard Style

Walha C., Bezine H. and Alimi A. (2012). A Particle Swarm Optimization Algorithm for the Grasp Planning Problem . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 130-135. DOI: 10.5220/0003996501300135

in Bibtex Style

@conference{icinco12,
author={Chiraz Walha and Hala Bezine and Adel M. Alimi},
title={A Particle Swarm Optimization Algorithm for the Grasp Planning Problem},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={130-135},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003996501300135},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Particle Swarm Optimization Algorithm for the Grasp Planning Problem
SN - 978-989-8565-21-1
AU - Walha C.
AU - Bezine H.
AU - Alimi A.
PY - 2012
SP - 130
EP - 135
DO - 10.5220/0003996501300135