A sufficient condition and a new quality criterion for force-closure grasps synthesis of 3D objects.
Sahar El-KhouryAnis SahbaniPublished in: IROS (2008)
Keyphrases
- d objects
- sufficient conditions
- object recognition
- viewpoint
- range data
- multi view
- asymptotic stability
- three dimensional
- lyapunov function
- cad models
- shape descriptors
- line drawings
- d mesh
- exponential stability
- image contours
- efficiently computable
- pose estimation
- polyhedral objects
- curved surfaces
- uniform convergence
- invariant recognition
- topological information
- equilibrium point
- recognizing objects
- linear complementarity problem
- partial matching