A robot can decide when to regrasp an object during complex motions by checking whether the graspable regions for consecutive constant-screw motion segments overlap in the object's point cloud.
Complete and rapid regrasp planning with look-up table,
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Synthesizing Grasps and Regrasps for Complex Manipulation Tasks
A robot can decide when to regrasp an object during complex motions by checking whether the graspable regions for consecutive constant-screw motion segments overlap in the object's point cloud.