Adaptive Tactile Measurement with Genetic Algorithm for Universal Robot Hand

Abstract

Recently, a robotic hand with tactile sensors is important for manipulating objects dexterously. We have developed a universal robot hand with tactile sensors. However, computer resources are needed for processing tactile sensor information because tactile sensor has numerous measurement points in general. For resolving this problem, this paper proposes an adaptive tactile measurement method with the genetic algorithm. The validity of the proposed method shows in some experiments.