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