An efficient grasp planning algorithm based on decomposition of grasp regions

This paper introduces a novel grasp planning algorithm which can find feasible grasps within a few milliseconds. The object surface is decomposed into plenar regions, which will be decomposed into smaller ones until a discrete grasp can be determined. We have extended the grasp wrench space formulation for the grasp regions and use ray-shooting method to evaluate the force-closure property of the grasp. Experiments in simulation show the efficiency of our algorithm.