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This paper describes a method of planning grasps for parallel two-fingered grippers in order to pick up user-specified objects and place them at user-specified configurations. This system presents the following features : (1) By characterizing local space around gripping positions, it can plan grasps where the hand can move as freely as possible and then easily plan a path. (2) It can plan regrasping where the grasps themselves and the regrasping placements are computed flexibly according to the environment. (3) It can plan minimal sequences of regraspings for the objects that have rotational symmetries.

Automatic Grasping and Regrasping for Pick-and-Place Operations on Polyhedora by Two-Fingered Gripper.