Genetic algorithm-based optimal regrasping with the Anthrobot 5-fingered robot hand

A primary characteristic of dexterity in the manipulation of objects by multifingered hands in uncertain environments is the ability to recover from failing grasps through a regrasp procedure. Our focus in this paper is on regrasping control, posterior to the grasp phase, by generating an optimal sequence of hand preshapes, close in terms of manipulability and stability while not losing contact with the object. In our approach we treat the preshaping of a hand and the manipulation of an object with the same hand as a continuous and inseparable process, formulate preshaping manipulability and stability criteria using the vortex theory, and model the problem of regrasping as an optimal search using genetic algorithms toward a predetermined final preshape initiated by the kinematic constraints of a prior preshaping that has optimally contacted an object.