Fig. 4
From: Integrated assembly and motion planning using regrasp graphs
The left two plots of the first row show the \({\mathbf {g}_A}^f\) and \({\mathbf {g}_B}^f\) associated with the two objects in Fig. 2 when they are posed at free space. The remaining three plots of the first row show the collision-free grasps when the two objects are assembled on a horizontal surface. The two plots in the second row show the IK-feasible grasps of the two objects. The kinematic model is from the Kawada Nextage robot