Planning Stable Force Distribution for Grasping by Evolutionary Programming

Abstract

Grasping of an object by a multi-fingered robot hand is discussed. A method for synthesis of the stable grasp that takes account of the force distribution and the grasping stability is proposed. The contact stability conditions are used in deriving the fitness function, while the Liapunov stability conditions and the friction conditions serve as constraints. Robust Evolutionary Programming is applied to the problem. The effectiveness of the method proposed is examined under the simulation.