Edge Contact

Planning 6-D Grasps for Two-Finger Grippers Considering Edge and Corner Contacts
A CAD-based antipodal grasp planner that explicitly considers edge and corner contacts with soft fingerpads, expanding feasible 6-D grasp configurations beyond face-only planning and improving success rates on diverse objects.
Cite DOI IEEE Xplore
Planning 6-D Grasps for Two-Finger Grippers Considering Edge and Corner Contacts