Online grasp synthesis

@inproceedings{Coelho1996OnlineGS,
  title={Online grasp synthesis},
  author={Jefferson A. Coelho and Roderic A. Grupen},
  booktitle={ICRA},
  year={1996}
}
This paper addresses the online grasp synthesis problem, in which statically stable grasp configurations are to be generated given instantaneous contact information. We use the preimage of a given grasp controller to address object resolution, friction compensation, and resource allocation an a online fashion. The approach can be applied to piecewise smooth object geometries, and it can be extended to accommodate any number of contacts and 3 0 objects. 
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