A topological algorithm for continuous grasp planning

Consideration is given to the planning of multifingered dexterous grasps to meet the physical constraints of some anticipated action. Most of the existing dexterous grasp planning schemes operate on a finite and discrete set of grasps. Such a discrete set obviously hinders the applicability of grasp planning schemes to complex and versatile task requirements. A description is given of a hierarchy of topological and geometrical spaces representing the set of grasps, and a topological algorithm is proposed for the planning of continuous grasps using computational techniques drawn from point-set, combinatorial, and algebraic topology. The topological algorithm is illustrated by a pinch grasp example using a stick model of a four-fingered hand