Grasp planning using quadric surface approximation for parallel grippers

We propose a planning method for a gripper grasping daily life objects using quadric surface approximation. This method can decompose the objects to the approximate quadric surfaces. The planner can find regions for contacting fingers quickly so that the gripper grasps the object firmly. The planner evaluates the grasp stability for these postures. The previous evaluation method in surface contact considers contact area only. We extend the evaluation method for considering stress distribution. We performed simulation and verified the effectiveness of our grasp planning.