Estimation of center of mass of the object to be held by barycentric coordinate system and polygon parcelling

Estimation of appropriate contact areas on object is an important problem to determine suitable robot hand shape and contact force to be exerted by the fingers. In this study, a novel method based on barycentric coordinates is proposed for calculating the center of mass of an object to determine the contact points for grasping. Results obtained from barycentric coordinates system are compared against quadrangle/hexagon parcelling algorithms and processing of pixels of the object in image data.