Grasp Quality Improvement with Particle Swarm Optimization (PSO) for a Robotic Hand Holding 3D Objects

Venkataramani Rakesh, Utkarsh Sarma, Murugan S, Venugopal Srinivasan, Thondiyath Asokan

Abstract

Automated grasp planning for robotic hands is a complex problem when compared with the ease with which human hands grasp objects. Research in robotic grasp synthesis attempts to find novel ways in which a stable grasp can be achieved reliably. In this work, we present a grasping methodology that achieves optimized force closure grasps on 3D irregular objects. 3D objects in the form of polygonal meshes are parameterized to 2D shapes in order to reduce the search space by constraining robotic hands finger tips to be in contact with the objects surface. We use a Particle Swarm Optimization (PSO) based framework to optimize an initial grasp. The scheme has been validated on test-case 3D objects represented with surface tessellation for a 5-fingered DLR robotic hand.

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Paper Citation


in Harvard Style

Rakesh V., Sarma U., S M., Srinivasan V. and Asokan T. (2016). Grasp Quality Improvement with Particle Swarm Optimization (PSO) for a Robotic Hand Holding 3D Objects . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 185-191. DOI: 10.5220/0005959901850191


in Bibtex Style

@conference{icinco16,
author={Venkataramani Rakesh and Utkarsh Sarma and Murugan S and Venugopal Srinivasan and Thondiyath Asokan},
title={Grasp Quality Improvement with Particle Swarm Optimization (PSO) for a Robotic Hand Holding 3D Objects},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={185-191},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005959901850191},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Grasp Quality Improvement with Particle Swarm Optimization (PSO) for a Robotic Hand Holding 3D Objects
SN - 978-989-758-198-4
AU - Rakesh V.
AU - Sarma U.
AU - S M.
AU - Srinivasan V.
AU - Asokan T.
PY - 2016
SP - 185
EP - 191
DO - 10.5220/0005959901850191