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Proceedings ArticleDOI

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

TL;DR: This work presents a grasping methodology that achieves optimized force closure grasps on 3D irregular objects and uses a Particle Swarm Optimization (PSO) based framework to optimize an initial grasp.
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.
Citations
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Journal ArticleDOI
06 Sep 2021
TL;DR: This article aims to summarize the outcome of a systematic study in the field of application of soft computing methods in robotic grasping and manipulation, and presents a state-of-the-art survey to find the research gaps in the area ofsoft computing applications to address the robotic grasping problem.
Abstract: Robotic grasping has become one of the most important domains of robotics research over the past few decades due to its wide range of applications in industrial automation. The model of grasping ob...

2 citations


Cites methods from "Grasp Quality Improvement with Part..."

  • ...Grasp quality improvement in robotic grasp planning is carried out using PSO.74,75 The researchers considered the inverse kinematics condition of the robotic finger to reach out to the object to be grasped.76 The grasp planning problem is treated as a multiobjective optimization problem and solved the same for human-like grasp planning using the MOPSO.76 The optimum stable grasp planning for a three-finger robotic hand to grasp the cylindrical objects using the evolutionary programming method.77 Figure 9 illustrates the generalized flow diagram of the application of PSO to find stable grasp synthesis....

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  • ...Application of PSO....

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  • ...Grasp quality improvement in robotic grasp planning is carried out using PSO.(74,75) The researchers considered the inverse kinematics condition of the robotic finger to reach out to the object to be grasped....

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References
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Journal ArticleDOI
01 Jun 1989
TL;DR: Comparisons of the grasp taxonomy, the expert system, and grasp-quality measures derived from the analytic models reveal that the analytic measures are useful for describing grasps in manufacturing tasks despite the limitations in the models.
Abstract: Current analytical models of grasping and manipulation with robotic hands contain simplifications and assumptions that limit their application to manufacturing environments. To evaluate these models, a study was undertaken of the grasps used by machinists in a small batch manufacturing operation. Based on the study, a taxonomy of grasps was constructed. An expert system was also developed to clarify the issues involved in human grasp choice. Comparisons of the grasp taxonomy, the expert system, and grasp-quality measures derived from the analytic models reveal that the analytic measures are useful for describing grasps in manufacturing tasks despite the limitations in the models. In addition, the grasp taxonomy provides insights for the design of versatile robotic hands for manufacturing. >

1,414 citations


"Grasp Quality Improvement with Part..." refers background in this paper

  • ...It is interesting to note that robotics research in grasping also leans on the study of an elaborate taxonomy of human grasps (Cutkosky, 1989)....

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Book ChapterDOI
01 Jan 2005
TL;DR: Various concepts from differential geometry which are relevant to surface mapping are gathered and used to understand the strengths and weaknesses of the many methods for parameterizing piecewise linear surfaces and their relationship to one another.
Abstract: This paper provides a tutorial and survey of methods for parameterizing surfaces with a view to applications in geometric modelling and computer graphics. We gather various concepts from differential geometry which are relevant to surface mapping and use them to understand the strengths and weaknesses of the many methods for parameterizing piecewise linear surfaces and their relationship to one another.

987 citations

Proceedings ArticleDOI
12 May 1992
TL;DR: Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed and the geometric interpretation of the two criteria leads to an efficient planning algorithm.
Abstract: The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described. >

924 citations


"Grasp Quality Improvement with Part..." refers background in this paper

  • ...In addition to this factor, a variation of the criterion of largest ball (Ferrari and Canny, 1992) grasp quality is used here, which is the radius of the largest ball, ρ, within the convex hull formed by the wrenches, irrespective of the reference (Teichmann, 1996)....

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  • ...The notion of grasp quality was introduced in order to provide a metric for successful grasps, (Ferrari and Canny, 1992)....

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Journal ArticleDOI
TL;DR: This article presents a survey of the existing computational algorithms meant for achieving four important properties in autonomous multifingered robotic hands, collectively referred to in this article as robot grasp synthesis algorithms.
Abstract: This article presents a survey of the existing computational algorithms meant for achieving four important properties in autonomous multifingered robotic hands. The four properties are: dexterity, equilibrium, stability, and dynamic behavior The multifingered robotic hands must be controlled so as to possess these properties and hence be able to autonomously perform complex tasks in a way similar to human hands.Existing algorithms to achieve dexterity primarily involve solving an unconstrained linear programming problem where an objective function can be chosen to represent one or more of the currently known dexterity measures. Algorithms to achieve equilibrium also constitute solving a linear program ming problem wherein the positivity, friction, and joint torque constraints of all fingers are accounted for while optimizing the internal grasping forces. Stability algorithms aim at achiev ing positive definite grasp impedance matrices by solving for the required fingertip impedances. This problem reduces ...

671 citations


"Grasp Quality Improvement with Part..." refers background in this paper

  • ...Parallel jaw grippers suffer major disadvantages, while handling objects to be handled with arbitrary shapes and uneven surfaces (Shimoga, 1996)....

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  • ...This is expressed as the ratio of the maximum and minimum singular values of H i.e. nc(H) (Shimoga, 1996)....

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Proceedings ArticleDOI
10 Dec 2008
TL;DR: This course outlines its mathematical foundations, describes recent methods for parameterizing meshes over various domains, discusses emerging tools like global parameterization and inter-surface mapping, and demonstrates a variety of parameterization applications.
Abstract: Mesh parameterization is a powerful geometry processing tool with numerous computer graphics applications, from texture mapping to animation transfer. This course outlines its mathematical foundations, describes recent methods for parameterizing meshes over various domains, discusses emerging tools like global parameterization and inter-surface mapping, and demonstrates a variety of parameterization applications.

356 citations


"Grasp Quality Improvement with Part..." refers methods in this paper

  • ...This simple and efficient procedure, though adequate can be further mapped to a modified surface which allows a thorough and continuous search by the use of mesh parameterization (Floater et al., 2005, and Hormann et al., 2007)....

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Trending Questions (1)
How to calculate PSO by hand?

The paper presents a methodology that uses Particle Swarm Optimization (PSO) to optimize grasping of 3D objects with a robotic hand.