A New Framework for Planning Three-Finger Grasps of 2D Irregular Objects

This paper presents a new approach to obtain three-finger robust grasps of 2D irregular objects. Given a discrete description of the object boundary, a partial representation of the force-closure space considering the position of two contact points is obtained. The computational cost of this representation is low and it still includes enough information to obtain suitable grasps as well as independent regions on the object boundary, such that a finger in each region ensures a force-closure grasp independently of the exact position of the contact points. The procedure has been implemented and several examples of the proposed methodology are included in the paper