Combinatorial optimization for hierarchical contact-level grasping

Abstract

We address the problem of generating force-closed point contact grasps on complex surfaces and model it as a combinatorial optimization problem. Using a multilevel refinement metaheuristic, we maximize the quality of a grasp subject to a reachability constraint by recursively forming a hierarchy of increasingly coarser optimization problems. A grasp is… (More)
DOI: 10.1109/ICRA.2014.6906885

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