3D Objects Grasps Synthesis: A Survey

This survey reviews computational algo- rithms for generating 3D objects grasps with autonomous multi-fingered robotic hands. Over the past 20 years, grasping has been an increasingly active research area. Ex- isting papers focus on reviewing the mechanics of grasping and the finger-object contacts interactions (21) or robot hand design and their control (4). Robot grasp synthesis algorithms has been reviewed in (17), but since then an im- portant progress has been made toward applying learning techniques to the grasping problem. This survey focuses on analytical as well as empirical grasp synthesis approaches.

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