Regrasp planning for discrete objects

This paper proposes an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory ensures a force-closure (FC) grasp while the regrasp motion is performed. The approach takes advantage of a method that quickly explores the grasp space, and relies on the use of independent contact regions and non-graspable regions, which provide large regions of the FC or non-FC subspaces starting from a single sample. Application examples are included to show the relevance of the results.