Vision-based computation of three-finger grasps on unknown planar objects

  title={Vision-based computation of three-finger grasps on unknown planar objects},
  author={Antonio Morales and Pedro J. Sanz and Angel P. Del Pobil},
This paper presents an implemented vision-based strategy for computing three-finger stable grasps on unknown planar objects. Its only input is an image of a real unknown curved object instead of synthetic polygonal models. Grasp regions are identified for achieving tolerance around contact points so that errors in finger positioning as well as a finite finger size are considered. It can find expanding and squeezing grasps involving internal and external regions, including holes. Theoretical… CONTINUE READING
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