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,,Genetic algorithm

,,Genetic algorithm parameters 8 individuals is enough Crossover and mutation probabilitiesare fixed to 0.25 Most of the time, convergence isachieved in less than 50 iterations Optimal grasp is attained when thealgorithm gives 5 times the sameindividualTuesday, October 19, 20108

Simulation ResultsFour objects grasps were testedwith different result qualitiesObject # of generations Com. time [sec]Cylinder 8-28 0.98-1.54parallelepiped 14-69 1.23-4.03with A1=0.467, A2=0.411, A3=0.475Note: Results are influenced by object size, object type and α angle.Tuesday, October 19, 20109