Multi-Fingered Robotic Grasping: A Primer
It serves as a primer for researchers or practitioners in robotics, offering an overview of existing methods rather than addressing a new problem.
This technical report provides an introduction to multi-fingered robotic grasping, covering mathematical modeling, grasp planning algorithms, and performance benchmarking, without presenting new experimental results or specific numbers.
This technical report presents an introduction to different aspects of multi-fingered robot grasping. After having introduced relevant mathematical background for modeling, form and force closure are discussed. Next, we present an overview of various grasp planning algorithms with the objective of illustrating different approaches to solve this problem. Finally, we discuss grasp performance benchmarking.