2A1-E04 Optimization for Manipulation Task of Universal Robot Hand using Evolutionary Computation

Abstract

Human hand is a multifunctional end effctor which is widely used for various purposes. The purpose of our study is to realize dexterous manipulation task with universal robot hand system which has the same capability as human hand. In this report, we propose the strategy to hold object and technique of optimize the torque or pressure value. In the evaluation experiments, the system could rotate the wheel object dexterously.