Power grasp is a grasp that can hold objects stably without changing the joint torques of ngers. Almost all studies on power grasp deal with one object. But it is more eÆcient to hold multiple objects at the same time. This paper derives a condition for power grasp for multiple objects, and de nes an optimal power grasp from the viewpoint of decreasing the work of joint torques. Lastly, we show...

The manipulation of objects held in a robotic hand or gripper is accompanied by events such as making and breaking contact and slippage, between the fingertips and the grasped object and between the grasped object and external surfaces. Humans can distinguish among such events, in part, because they excite the various mechanoreceptors in the hands differently. As part of an effort to provide ro...

This paper discusses the scale-dependent grasps. Suppose that an object is initially placed on a table without touching by human hand and, then he (or she) finally achieves an enveloping grasp after an appropriate approach phase. Under such initial and final conditions, human unconsciously changes the grasp strategy according to the size of object, even though they have similar geometry. We cal...

GRASP (greedy randomized adaptive search procedure) is a metaheuristic for combinatorial optimization. GRASP usually is implemented as a multistart procedure, where each iteration is made up of a construction phase, where a randomized greedy solution is constructed, and a local search phase which starts at the constructed solution and applies iterative improvement until a locally optimal soluti...

This paper is a survey of greedy randomized adaptive search procedures (GRASP). GRASP is a multi-start or iterative procedure where each GRASP iteration consists of a construction phase, where a feasible solution is constructed, followed by a local search procedure that finds a locally optimal solution. The construction phase of GRASP is essentially a randomized greedy algorithm. Repeated appli...

in this paper, we consider scheduling of project networks under minimization of total weighted resource tardiness penalty costs. in this problem, we assume constrained resources are renewable and limited to very costly machines and tools which are also used in other projects and are not accessible in all periods of time of a project. in other words, there is a dictated ready date as well as a d...

We consider the queueing maximal covering location-allocation problem (QM-CLAP) with an M/M/1 queueing system. We propose a new solution procedure based on decomposition of the problem into smaller sub-problems. We solve the resulting sub-problems both with a branch and bound algorithm and with the meta-heuristic GRASP. We also solve the entire model with GRASP. Computational results for these ...

It is important for robots to obtain appropriate grasp positions autonomously to make stable grasps. In this paper, we propose an algorithm for automatically generating an optimum planar grasp based on grasp stability. Every finger is replaced with a two-dimensional linear spring model. Grasp stability is evaluated by using the eigenvalues of the grasp stiffness matrix derived from the potentia...