The concepts of canonical grasp and grasp transformation graph proposed in 10] are useful in grasp planning and dextrous manipulation. However, one critical element, namely the automatic generation of the canonical grasps, is required for the grasp transformation graph to be practical. In this paper, we present an algorithm to generate all canonical grasps in the planar case automatically. To t...

A greedy randomized adaptive search procedure (GRASP) is a metaheuristic for combinatorial optimization. GRASP heuristics are multistart procedures which apply local search to a set of starting solutions generated with a randomized greedy algorithm or semi-greedy method. The best local optimum found over the iterations is returned as the heuristic solution. Path-relinking is a search intensific...

This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force...

In this study, we investigated anticipatory motor planning and the development of cognitive representation of grasp postures in children aged 7, 8, and 9 years. Overall, 9-year-old children were more likely to plan their movements to end in comfortable postures, and have distinct representational structures of certain grasp postures, compared to the 7- and 8-year old children. Additionally, the...