Chiraz Walha

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—This paper addresses the grasp planning problem, which deals with finding the contact points between a five-fingered hand and an arbitrary object. As we consider this problem as an optimization problem, we provide in this paper an approach based on Particle Swarm Optimization for the generation and execution of grasps. Its main purpose is to compute a set(More)
This paper proposes an adaptive particle swarm optimization (APSO) approach to solve the grasp planning problem. Each particle represents a configuration set describing the posture of the robotic hand. The aim of this algorithm is to search for the optimum configuration that satisfies a good stability. The approach uses a Guided Random Generation (GRG) to(More)
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