Planning planar grasps of smooth contours

A theory for identification and classification of two-fingered grasps is described and demonstrated. It is shown that optimal finger positions are obtained from the pairwise intersections of three subsets in the configuration space for the gripper. The sets are the symmetry set, the antisymmetry set, and the critical set of the grasp map. An implementation of the theory is developed for an ADEPT robot with visual sensing.<
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