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1. Stable Grasp Planning by Evolutionary Programming.

Author

Yoshiaki, Katada, Mikhail, Svinin, Kazuhiro, Ohkura, and Kanji, Ueda

Subjects
*ROBOT hands, *EVOLUTIONARY computation
Abstract

Analyzes the synthesis of stable grasp by multifingered robotic hands through evolutionary programming (EP). Mathematical description of the problem; Stability conditions considered; Contact points, contact forces and joint stiffnesses as problem variables; Derivation of the EP method used.

Published
2001
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