Qualitative theory of robot grasping-A formalisation of 'intuitive' robot grasping

A qualitative theory of robot grasping, as a formalized approach to intuitive robot grasping, is introduced. The qualitative theory is analogous to the analytical theory of robot grasping and consists essentially of symbolic abstractions of the analytically asserted theoretical concepts in robot grasping. A coexistence of the analytical and qualitative formulations of grasping theory is essential for developing 'intelligent' robot hands.<
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