Path control of dexterous robotic hand using genetic algorithm

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper would presents the path control of a dexterous robotic hand finger reaching in a given search space. The proposed system would adopt the advantages of Genetic Algorithm (GA) to optimize the system performance in terms of path control, speed and accuracy. The system would search for a valid path and optimal velocity. A new genetic operator, namely Real Coded Dynamic Multilayer Chromosome Crossover (RC-DMCC) has been introduced and incorporated in the system. The simulation results of the proposed technique are presented.

Original languageEnglish
Title of host publicationICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
Pages502-506
Number of pages5
DOIs
Publication statusPublished - 05 Jun 2009
Event4th International Conference on Autonomous Robots and Agents, ICARA 2009 - Wellington, New Zealand
Duration: 10 Feb 200912 Feb 2009

Other

Other4th International Conference on Autonomous Robots and Agents, ICARA 2009
CountryNew Zealand
CityWellington
Period10/02/0912/02/09

Fingerprint

Speed control
End effectors
Chromosomes
Multilayers
Genetic algorithms

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Software

Cite this

Albert, F. Y. C., Koh, J. S. P., Chen, C. P., Loo, C. K., & Tiong, S. K. (2009). Path control of dexterous robotic hand using genetic algorithm. In ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents (pp. 502-506). [4804002] https://doi.org/10.1109/ICARA.2000.4804002
Albert, F. Y.C. ; Koh, Johnny Siaw Paw ; Chen, Chai Phing ; Loo, C. K. ; Tiong, Sieh Kiong. / Path control of dexterous robotic hand using genetic algorithm. ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents. 2009. pp. 502-506
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Albert, FYC, Koh, JSP, Chen, CP, Loo, CK & Tiong, SK 2009, Path control of dexterous robotic hand using genetic algorithm. in ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents., 4804002, pp. 502-506, 4th International Conference on Autonomous Robots and Agents, ICARA 2009, Wellington, New Zealand, 10/02/09. https://doi.org/10.1109/ICARA.2000.4804002

Path control of dexterous robotic hand using genetic algorithm. / Albert, F. Y.C.; Koh, Johnny Siaw Paw; Chen, Chai Phing; Loo, C. K.; Tiong, Sieh Kiong.

ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents. 2009. p. 502-506 4804002.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This paper would presents the path control of a dexterous robotic hand finger reaching in a given search space. The proposed system would adopt the advantages of Genetic Algorithm (GA) to optimize the system performance in terms of path control, speed and accuracy. The system would search for a valid path and optimal velocity. A new genetic operator, namely Real Coded Dynamic Multilayer Chromosome Crossover (RC-DMCC) has been introduced and incorporated in the system. The simulation results of the proposed technique are presented.

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Albert FYC, Koh JSP, Chen CP, Loo CK, Tiong SK. Path control of dexterous robotic hand using genetic algorithm. In ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents. 2009. p. 502-506. 4804002 https://doi.org/10.1109/ICARA.2000.4804002