A Particle Swarm Optimization Algorithm for the Grasp Planning Problem

Chiraz Walha; Hala Bezine; Adel M. Alimi

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Paper

A Particle Swarm Optimization Algorithm for the Grasp Planning Problem

Topics: Optimization Algorithms; Planning and Scheduling

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 130-135, 2012 , Rome, Italy

Authors: Chiraz Walha ; Hala Bezine and Adel M. Alimi

Affiliation: University of Sfax, Tunisia

Keyword(s): Grasp Planning, Robotic Hand, Particle Swarm Optimization (PSO).

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms ; Planning and Scheduling ; Simulation and Modeling ; Symbolic Systems

Abstract: Computing a set of contact points between a robotic hand and an object in order to fulfill some criteria is the main problem of the grasp planning. An automatic grasp planning can produce a set of joint angles defining a configuration of the robotic hand. The huge number of solutions that satisfy a good grasp is the main difficulty of such a planner. In this paper, we represent the grasp planning problem as an optimization problem and we propose a new algorithm based on a Particle Swarm Optimization (PSO) technique. To generate the positions of the fingertips, the kinematic of the hand is modeled. Therefore, a simple PSO algorithm is described to optimize the workspace of the operating hand based on a quality of measure of the grasp. The simulation results support the effectiveness of our approach.

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Paper citation in several formats:

Walha, C.; Bezine, H. and Alimi, A. (2012). A Particle Swarm Optimization Algorithm for the Grasp Planning Problem. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 130-135. DOI: 10.5220/0003996501300135

@conference{icinco12,
author={Chiraz Walha. and Hala Bezine. and Adel M. Alimi.},
title={A Particle Swarm Optimization Algorithm for the Grasp Planning Problem},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={130-135},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003996501300135},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A Particle Swarm Optimization Algorithm for the Grasp Planning Problem
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Walha, C.
AU - Bezine, H.
AU - Alimi, A.
PY - 2012
SP - 130
EP - 135
DO - 10.5220/0003996501300135
PB - SciTePress