Reactive algorithms for grasping using a modified parallel jaw gripper

Considers the problem of grasping an unknown polygonal flat object using a parallel jaw gripper. The authors propose to equip a standard gripper with several light-beam sensors (close to each jaw) and describe a reactive grasping algorithm. This is done by probing the object to locate a good grasp position, and then grasping, without moving the object significantly. The goal is to do as little motion as possible to find a grasp. This algorithm can be viewed in, a competitive framework, where the authors´ algorithm is competing against any algorithm which already knows the object