Genetic algorithm based optimal regrasping with the anthrobot 5-fingered robot hand

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 same hand as a continuous and inseparable process, formulate preshaping manipulability and stability criteria using vortex theory and model the problem of regrasping as an optimal search toward a predetermined final preshape initiated by the kinematic constraints of a prior preshaping that has optimally contacted an object, using Genetic Algorithms.


Control of constrained spatial three-link flexible manipulators
KILIÇASLAN, SİNAN; Özgören, Mustafa Kemal; Ider, S. Kemal (2007-06-29)
This study deals with the force and motion control of a spatial three-link articulated manipulator with flexible second and third links. In order to reduce the complexity of the dynamic equations each link is modelled as if unconnected and the joint connections are expressed as constraint equations. Then the joint forces are eliminated and the number of equations is reduced by substituting the acceleration level constraint equations into the dynamic equations. The dynamic equations are partitioned as pseudo...
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...
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...
Performance evaluation of piezoelectric sensor/actuator on active vibration control of a smart beam
Şahin, Melin (SAGE Publications, 2011-01-01)
In this paper the performance of a piezoelectric sensor/actuator pair and self-sensing piezoelectric actuator on the investigation of vibration characteristics and active vibration control of a smart beam are presented. The performance of piezoelectric patches on actuation and sensing is evaluated by investigating the vibration characteristics of the smart beam via various excitation mechanisms and transduction systems. For active vibration suppression of the smart beam, robust controllers are designed and ...
Estimation of Ground Reaction Forces Using Low-Cost Instrumented Forearm Crutches
Seylan, Çağlar; Saranlı, Uluç (2018-06-01)
Instrumented crutches are useful for many rehabilitation tasks, including monitoring the correctness of crutch use, analyzing gait properties for patients with lower-limb impairments, as well as providing sensory data for controlling lower-body robotic orthoses. In this paper, we describe the design and analysis of an instrumented crutch system equipped with low-cost accelerometer and pressure sensors to estimate all components of the ground reaction force (GRF), providing a well-defined and physically mean...
Citation Formats
A. M. Erkmen, “Genetic algorithm based optimal regrasping with the anthrobot 5-fingered robot hand,” 1998, Accessed: 00, 2020. [Online]. Available: