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Improving grasp quality for 3D objects using Particle Swarm Optimization (PSO) and Mesh Parameterization
Date Issued
02-07-2015
Author(s)
Rakesh, Venkataramani
Sharma, Utkarsh
Rao, B. P.C.
Venugopal, S.
Indian Institute of Technology, Madras
Abstract
Handling of objects through robot hands is a complex problem in most applications. This makes grasp planning very important and thereby it becomes necessary to formulate efficient schemes for automated grasp synthesis. A method for fast synthesis of grasp configurations is proposed in this work through the use of Particle Swarm Optimization (PSO). The algorithm uses a feasible grasp as the input to improve the grasp quality. The largest ball criterion is used as a measure of the grasp quality. Surface tessellated objects are used as test cases for the implementation and the optimization has been conducted for frictional and non-frictional instances.
Volume
02-04-July-2015