Graspit! A versatile simulator for robotic grasping

  title={Graspit! A versatile simulator for robotic grasping},
  author={Andrew T. Miller and Peter K. Allen},
  journal={IEEE Robotics & Automation Magazine},
A robotic grasping simulator, called Graspit!, is presented as versatile tool for the grasping community. The focus of the grasp analysis has been on force-closure grasps, which are useful for pick-and-place type tasks. This work discusses the different types of world elements and the general robot definition, and presented the robot library. The paper also describes the user interface of Graspit! and present the collision detection and contact determination system. The grasp analysis and… CONTINUE READING
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