Handling Objects By Their Handles

@inproceedings{ElKhoury2008HandlingOB,
  title={Handling Objects By Their Handles},
  author={Sahar El-Khoury and Anis Sahbani},
  year={2008}
}
This paper presents an efficient method to decide robust grasps given new objects using example-based learning. A robust grasp is a stable grasp, suitable for object manipulation. Adaptability to object manipulation is ensured by imitating the human choice of the object grasping component, its handle. Stability is obtained by computing contact points, ensuring force-closure property, on that handle. 
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