Browsing Computer Science and Artificial Intelligence Lab (CSAIL) by Subject "grasp planning"
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The Grasping Problem: Toward Task-Level Programming for an Articulated Hand
(1990-05-01)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 ...