Abshact-This paper addresses the pmblem of computing frictional 4-fingered force-closure grasps of three dimensional objects. The proposed appmach searches for force-closure grasps from a collection of sampled points on the object's surface. Unlike most other works, the appmach b not limited to the objects with a ceertain class of shapes. It can be applied to an object in any shape since only the object's surface poine and corresponding surface normals at the points are n d e d . The efficiency of the appmach arises from a heuristic for search space pruning which is based on ability to efficiently locate regions in three dimensional space rhere fiietion cones inlenect and a randomized lest for checking forcedosure condition. The proposed approach is implemented and preliminary results are pmenled.
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