Yusuke Matsumura

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This paper discusses grasping of objects by multi-ngered robot hand and proposes a procedure for the synthesis of stable grasp. In the procedure, the conditions for the Liapunov stablility and the contact stability are formulated as an optimization programming problem, and an evolutionary computation technique is applied to the problem. The eeectiveness of(More)
This paper empirically investigates the use and behaviour of Evolution Strategies (ES) algorithms on problems such as function optimisation and the use of evolutionary artificial neural networks in evolutionary robotics. Computer simulations are conducted which compare the performance of Classical-ES (CES) and Robust-ES (RES). We show that the performance(More)
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