Hierarchical simplification for 5-fingered 3D regrasp planning on triangular mesh objects

We propose a heuristic approach for regrasp planning problem. We consider especially the case when the input is a triangular mesh with a large number of facets. In such setting, traditional method of complete solution is not available. Our method provides trade off between completeness and resource used in the computation. The algorithm simplifies the input using well known triangular mesh simplification and then uses the simplified input to restrict the search process. The result from preliminary experiment indicates that our method can solve many problem instances that cannot be solved by a complete method.