Determining independent grasp regions on 2D discrete objects

This paper deals with the problem of determining independent grasps regions on the object boundary such that a four frictionless grasp with a contact point in each region assures a form-closure grasp independently of the exact position of the contact point. These regions are useful to provide some robustness to the grasp in front of finger positioning errors as well as in the design of fixtures. Given a discrete description of a 2D object, the methodology takes into account the uncertainty in the object description and it determines the independent regions without using hard iterative search procedures. The procedure has been implemented and an example of the proposed methodology is included in the paper.