This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found ...

A method is presented for stably grasping 2 dimensional polygonal objects with a dextrous hand when object models are not avaiable. Basic constraints on object vertex angles are found for feasible grasping with two fingers. ...