Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Optimization Model for Planning Precision Grasps with Multi-Fingered
  Hands   Precision grasps with multi-fingered hands are important for precise
placement and in-hand manipulation tasks. Searching precision grasps on the
object represented by point cloud, is challenging due to the complex object
shape, high-dimensionality, collision and undesired properties of the sensing
and positioning. This paper proposes an optimization model to search for
precision grasps with multi-fingered hands. The model takes noisy point cloud
of the object as input and optimizes the grasp quality by iteratively searching
for the palm pose and finger joints positions. The collision between the hand
and the object is approximated and penalized by a series of least-squares. The
collision approximation is able to handle the point cloud representation of the
objects with complex shapes. The proposed optimization model is able to locate
collision-free optimal precision grasps efficiently. The average computation
time is 0.50 sec/grasp. The searching is robust to the incompleteness and noise
of the point cloud. The effectiveness of the algorithm is demonstrated by
experiments.

31
The categories of this paper are: ao-sci
10
The categories of this paper are: q-bio
23
The categories of this paper are: solv-int
25
The categories of this paper are: patt-sol
22
The categories of this paper are: chao-dyn
35
The categories of this paper are: mtrl-th
32
The categories of this paper are: atom-ph
26
The categories of this paper are: bayes-an
37
The categories of this paper are: supr-con
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
15
The categories of this paper are: nucl-ex
7
The categories of this paper are: hep-th
21
The categories of this paper are: adap-org
28
The categories of this paper are: alg-geom
0
The categories of this paper are: hep-ph