A Geometric Approach for Grasping Unknown Objects With Multifingered Hands

Multifingered robotic hands offer stable grasping for a wide variety of objects, yet grasp planning with these hands is more challenging due to the high dimensionality of the search space. In this article, we propose a method for grasping unknown objects from cluttered scenes using a noisy point cloud as an input. Our approach is based on a shape complementarity metric. A fast algorithm for findin...