This paper addresses the grasp planning problem, which deals with finding the contact points between a five-fingered hand and an arbitrary object. As we consider this problem as an optimization problem, we provide in this paper an approach based on Particle Swarm Optimization for the generation and execution of grasps. Its main purpose is to compute a set of hand configurations posture in order to find an appropriate grip, satisfying a certain criteria. Assuming that the search for a solution is restricted to a precise grasp which allows only contact with the fingertips, we analyze each of the configurations of the hand with a fitness function based on a measure of quality of the grasp. Each grasp is tested and evaluated within our grasping simulator “HandGrasp”. We present experimental results using different objects.
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