抄録
In this paper, the shapes of grasping objects are categorized based on grasping configurations of a robot hand that are applicable to the objects. Grasping configurations vary depending on the shape and mechanism of robot hand. We utilize a parallel two-fingered gripper as a general robot hand and determined seven kinds of primitives for modeling and abstracting grasping objects. In addition, the configurations of robot hand are parameterized for each primitive shape.
