A greedy randomized adaptive search procedure (GRASP) is a randomized heuristic that has been shown to quickly produce good quality solutions for a wide variety of combinatorial optimization problems. In this paper, we describe a GRASP for the quadratic assignment problem. We review basic concepts of GRASP: construction and local search algorithms. The implementation of GRASP for the quadratic ...

In general, automatic grasp synthesis can be thought of the task of finding the combination of hand posture (intrinsic degrees of freedom, or DOF’s) and position (extrinsic DOF’s) that produces a stable grasp, according to a given grasp quality metric. From this perspective, it can be approached as an optimization problem, seeking to maximize the value of the grasp quality Q expressed as a func...

The correct grasp of objects is a key aspect for the right fulfillment of a given task. Obtaining a good grasp requires algorithms to automatically determine proper contact points on the object as well as proper hand configurations, especially when dexterous manipulation is desired, and the quantification of a good grasp requires the definition of suitable grasp quality measures. This article r...

This paper describes the development of a novel vision-based grasping system for unknown objects based on range images. We realize a synthesis of the calculated grasp points with a 3D model of a hand prosthesis, which we are using as gripper. We locally find grasp point candidates based on the shape of the object and validate the globally by checking collisions between the gripper and surroundi...

Seung-Joon Yi GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Stephen G. McGill GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Larry Vadakedathu GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Qin He GRASP Lab, University of Pennsy...

This paper presents a model for rural road network design that involves two objectives: maximize all season road connectivity among villages in a region and maximize route efficiency, while allocating a fix budget among a number of possible road projects. The problem is modeled as a bicriterion optimization problem and solved heuristically through a greedy randomized adaptive search procedure (...

When reaching to grasp, we coordinate how we preshape the hand with how we move it. To ask how motor cortical neurons participate in this coordination, we examined the interactions between reach- and grasp-related neuronal ensembles while monkeys reached to grasp a variety of different objects in different locations. By describing the dynamics of these two ensembles as trajectories in a low-dim...

This paper presents an analysis result of grasp-move-and-twist motions of robotic hands equipped with optical three-axis tactile sensor to evaluate performance of a new control algorithm based on tactile slippage sensation. The optical three-axis tactile sensor is capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on ...

Seung-Joon Yi GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Stephen G. McGill GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Larry Vadakedathu GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Qin He GRASP Lab, University of Pennsy...

In this paper, we aim to use a continuous formulation efficiently calculate the well-known wrench-based grasp metric proposed by Ferrari and Canny which is minimum distance from wrench space origin boundary of space. Considering L∞ nonlinear friction cone model, challenge calculating determine Instead relying on convex hull construction, propose formulate as functions. By doing so, problem qual...