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Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology.
Jeffrey Mahler
Florian T. Pokorny
Sherdil Niyaz
Ken Goldberg
Published in:
IEEE Trans Autom. Sci. Eng. (2018)
Keyphrases
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persistent homology
topological features
morse theory
computational geometry
energy minimization
delaunay triangulations
multiresolution