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)
Automatic grasp planning is an active field in robotic research. Its main purpose is to find the contact points between the robotic hand and an object in order to grasp it efficiently. As the robotic hand has many degrees of freedom which induce a huge number of solutions, the search for the “best” solution became an optimization problem. The(More)
This paper discusses the use of intelligent technology to solve the problem of grasp planning known as a difficult problem. The scope aims to find points of contact between a five-fingered hand and an object. In this paper, we applied a new hierarchical approach for distributed Multi-Objective Particles Swarms Optimization, based on dynamic subdivision of(More)
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