Polyhedral convex cones for computing feasible grasping regions from vision

This paper presents a method to compute a feasible region for grasping unknown objects using visual features. The method is divided into two separate sections: candidates grasp generation and testing of the feasible region of grasping by constructing a set of constraints for each candidate grasps. From visual features, the algorithm examines at least one possible candidate grasp region around the object´s boundary for each available finger and selects the optimal grasping points on it, relative to some criteria for optimality. An experimental environment was developed to test this method.