Acquiring grasp strategies for a multifingered robot hand using evolutionary algorithms

In recent years, significant research has been conducted on grasp planning for multifingered robot hands. These studies have focused on determining how to obtain suitable grasps from among an infinite number of candidate grasps. This domain's goal is a successful application to unknown environments through the adoption of the extracted grasps. Under difficult conditions, such as grasping a target object that is adjacent to other objects, manipulating robot hands by indicating grasping points has been insufficient. Instead, grasp strategies that construct movements using each finger's joint servo controls and robot hand movements should be used. In addition, it is necessary to automatically acquire various grasp strategies to apply to unknown environments. In this paper, we propose a method that automatically obtains grasp strategies using a real-coded genetic algorithm (RCGA), which is an evolutionary algorithm. This method derives grasp strategies by optimizing combinations and structures that consist of simple finger joint servo controls and robot hand movements. By applying our method to several objects on a simulator, we collected various grasp strategies capable of handling difficult conditions.