Grasping of Planar Objects Using Visual Perception

This paper presents an algorithm to compute a feasible region for grasping unknown 2D objects using visual features. The algorithm is divided into two sections: visual information extraction that contains the object´s features and grasp planning that contains the valid grasps. A relationship between visual features and grasp planning is proposed. Our approach uses three-fingers contact with friction and defines valid and robust grasps from a set of candidate grasps. Each set of three candidate of grasping points is formulated as linear constraints and solved using linear programming solvers. An experimental environment was developed to test this method on three objects.