Evolutionary generation of regrasping motion

  • Authors:

  • Yasuhisa Hasegawa;Toshio Fukuda

  • Affiliations:

  • Department of Micro System Engineering, Nagoya University, Furo-Cho, Chikusa-ku, Nagoya, 464-8603, Japan;Department of Micro System Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan

  • Venue:
  • Advances in evolutionary computing
  • Year:
  • 2003

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Abstract

In this chapter, we propose a generation method for the regrasping motion of a four-fingered robot hand using evolutionary programming (EP). The control of multi-fingered robot hands has been the subject of recent interest. To generate a regrasping motion for an object, there are many parameters to be determined, such as the grasping points, grasping forces, regrasping phases, finger allocation and so on. It is difficult to optimize such manipulation parameters for achieving dexterous manipulation. The evolutionary optimization method is generally able to find optimal solutions without supervision after much iteration, which makes it almost impractical to apply it in a real environment directly. Therefore we apply the controller generated in numerical simulations to control a real four-fingered robot hand. We show the effectiveness of the proposed method for the regrasping motion in our experimental results.