“…Since an object is grasped according to its CAD model [Koller et al, 1993], [Wunsch et al, 1997], [Sanz et al, 1998], [N. Giordana and Spindler, 2000], [Kragic et al, 2001], an image also contains redundant information that could become a source of errors and ineffciency in the processing. This paper is an extension of our previous works , , and [Boudaba and Casals, 2006] on grasp planning using visual features. In this work, we demonstrate its utility in the context of grasp (or fingers) positioning.…”