Optimal robot hand preshaping control using genetic algorithms

Date

1997-07-18

Author

Gunver, H
Erkmen, Aydan Müşerref

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This work focuses on the generation of optimal fingertip trajectories for a given preshape of a five fingered robot hand, the Anthrobot III. The hand preshape is defined in a ''look ahead'' manner, being related to task properties in manipulating a grasped object and to object constraints such that a performance measure in terms of stability and manipulability is used in the formulation. Stability and manipulability are defined using concepts of vortex theory. The originality of our approach resides not only in the methodology but also in the objective of optimally closing a preshaped hand on an object for a better subsequent grasp. The dual criteria of manipulability and stability are first dem ed in terms of I)vorticities generated by preshape closure and 2) hand divergences. These measures are then applied, together with contact points from possible landing areas of each finger on the object, to the generation of candidate hand-configurations using the optimal search mechanism of genetic algorithms (GA). The surviving hand configurations determine the preshape closure style with optimal performance and by evaluating fingertip trajectories for the closing of the hand which are generated in this paper for different tasks and object constraints. The effects of modifying standard crossover and mutation operators of GAs on finger trajectories are studied on illustrative examples and results are provided with discussions.

Subject Keywords

Preshaping for manipulation, Optimal finger landing trajectories, Stability, Manipulability

URI

https://hdl.handle.net/11511/38978

DOI

https://doi.org/10.1109/isic.1997.626433

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Robot hand preshaping and regrasping using genetic algorithms Erkmen, İsmet; Erkmen, Aydan Müşerref; Gunver, H (2000-09-01) This paper contributes (1) to the development of the necessary formalism for the generation of task optimal fingertip trajectories for a multifingered robot hand of a predetermined preshape closing upon an object to be handled; (2) to the generation, in the case of a failing grasp, of an optimal sequence of hand preshapes, differing gradually from each other in terms of manipulability and stability. A "look ahead" preshape control for a robot hand, either in the phase of impacting an object with a certain h...
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01) Our work focuses on developing methods of determining the optimal preshape of a robot hand closing onto an object in order to achieve at contact a certain stability and manipulability degree based on kinematic considerations. This purposive closing of a preshaped hand should then be kinematically modelled in such a way that impact force patterns on the object can naturally be deduced from the model and be optimized such that upon contacting the object the desired optimum initial conditions of manipulation a...
Computed Torque Control of an Aerial Manipulation System with a Quadrotor and a 2-DOF Robotic Arm Bulut, Nebi; Turgut, Ali; Aríkan, Kutluk (SCITEPRESS, AV D MANUELL, 27A 2 ESQ, SETUBAL, 2910-595, PORTUGAL; 2019) This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. The kinematic and dynamic model of the system is obtained by modeling the quadrotor and the robotic arm as a unified system. Then, the equation of motion of the unified system is got in the form of a standard robot dynamics equation. For the trajectory control of the system, computed torque control is used. Gains of the controller are optimized by using nonli...
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part I: Vorticity model Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01) The manipulation phase of a multifingered robot hand is initialized, upon contact, by the impact force patterns imparted to the object at contact points, in the final state of a preshaped hand closure. The object then inherits from contacts different helix motion tendencies (translation, rotation) as the initial conditions of manipulation. These motion tendencies are caused by the forces/torques imparted to the object upon impact, and are generated by changes of momenta of the closing hand preshape at the c...
Genetic algorithm based optimal regrasping with the anthrobot 5-fingered robot hand Erkmen, Aydan Müşerref (1998-05-20) A primary characteristic of dexterity in the manipulation of objects by multifingered hands in uncertain environments is the ability to recover fi from failing grasps through a regrasp procedure. Our focus in this paper is On regrasping control posterior to the grasp phase, by generating an optimal sequence of hand preshapes, close in terms of manipulability and stability while not loosing contact with the object. In our approach we treat the preshaping of a hand and the manipulation of an object with the s...

Citation Formats

H. Gunver and A. M. Erkmen, “Optimal robot hand preshaping control using genetic algorithms,” 1997, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/38978.