This paper addresses the online grasp synthesis problem, in which statically stable grasp configurations are to be generated given instantaneous contact information. We use the preimage of a given grasp controller to address object resolution, friction compensation, and resource allocation in a online fashion. The approach can be applied to piecewise smooth object geometries, and it can be extended to accommodate any number of contacts and 3D objects.
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Coelho et al. (2002) studied this question.
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