Error-tolerant visual planning of planar grasp

This paper describes an efficient method to calculate, from an image of an object, configurations of a two-fingered robot gripper that form a "cage" to contain. that object. Closing the fingers on the object from these configurations is guaranteed to reach a given desired grasp. This builds on the visual grasping theory of Blake? Taylor and Cox [1] which describes how to find optimal grasps. It extends the results of Rimon and Blake [10] which show how to construct such cages? in two ways. First, a more efficient algorithm for computing the cage is described. Second, a further development deals with occlusion by solving the caging problem within a restricted image window. The new methods greatly reduce the complexity of the visual caging problem, making it feasible in a real time computer vision system.