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Finding enveloping grasps by matching continuous surfaces

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Academic year: 2021

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Figure

Fig. 1. Overview of the method.
Fig. 3. 8 geodesic circles around one mesh point on a mug model, along with the normals of 50 sampled points on the geodesic circles
Fig. 8. 2 stable grasps for the mug obtained with the first hand preshape.
Fig. 12. 3 stable grasps for the horse obtained with the second hand preshape.

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