Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects
Rebecca H. Jiang,Neel Doshi,Ravi Gondhalekar,Alberto Rodriguez,Rebecca H. Jiang,Neel Doshi,Ravi Gondhalekar,Alberto Rodriguez
We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are both well studied, co-optimizing grasps and the gripper geometry to execute them receives less attention. As such, our framework synthesizes grippers optimized to stably grasp sets of polygonal objects. Given a fixed numbe...
