This paper proposes an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory ensures a force-closure (FC) grasp while the regrasp motion is performed. The approach takes advantage of a method that quickly explores the grasp space, and relies on the use of independent contact regions and non-graspable regions, which provide large regions of the FC or non-FC subspaces starting from a single sample. Application examples are included to show the relevance of the results.
CitationRoa, M.; Suárez, R. Regrasp planning for discrete objects. A: IEEE International Symposium on Assembly and Manufacturing. "2009 IEEE International Symposium on Assembly and Manufacturing". Suwon: 2009, p. 22-27.
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