Multisensor-Based Autonomous Grasp Planning for Mobile Manipulator Navigation System with a Novel Soft Gripper

Figure 14

Optimal solution calculation. (a) Ellipse a = 100 mm and b = 40 mm; the calculated optimal grasp position. (b) Ellipse a = 100 mm and b = 40 mm; the upper side is the relationship between the fitness value and generation, and the lower side is the value of variable q in the optimal solution. (c) Ellipse a = 50 mm and b = 40 mm; the calculated optimal grasp position. (d) Ellipse a = 100 mm and b = 40 mm; the upper side is the relationship between the fitness value and generation, and the lower side is the value of variable q in the optimal solution.

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