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@ARTICLE{adan13,
  author = {Antonio Adan and  Andres S. Vazquez and Pilar Merchan and Ruben Heradio},
  title = {Direction Kernels: using a simplified 3D model representation for
	grasping},
  journal = {Machine Vision and Applications},
  year = {2013},
  volume = {24},
  pages = {351-370},
  number = {1},
  month = {January},
  note = {10.1007/s00138-011-0351-y},
  abstract = {Humans decide how to carry out a spontaneous interaction with an object
	by using the whole geometric information obtained from their eyes.
	The aim of this paper is to present how our object representation
	model MWS (Adán in Comput Vis Image Underst 79:281–307, 2000 )
	can help a robot manipulator to make a single and reliable interaction.
	The contribution of this paper is particularly focused on the grasp
	synthesis stage. The main idea is that the grasping system, through
	MWS, can use non-strict-local features of the contact points to find
	a consistent grasping configuration. The Direction Kernels (DK) concept,
	which is integrated into the MWS model, is used to define a set of
	candidate contact-points and interaction regions. The set of DK is
	a global feature which represents the principal normal vectors of
	the object and their relative weight in a three-connectivity mesh
	model. Our method calculates the optimal grasp points (which are
	ordered according to the quality function) for two-finger grippers,
	whilst maintaining the requirements of force closure and safety of
	the grasp. Our strategy has been extensively tested on real free-shape
	objects using a 6 DOF industrial robot.},
  affiliation = {Dpto Ingeniería E.E.A.C, Universidad de Castilla La Mancha, Ciudad
	Real, Spain},
  issn = {0932-8092},
  keyword = {Computer Science},
  publisher = {Springer Berlin / Heidelberg},
  url = {http://dx.doi.org/10.1007/s00138-011-0351-y}
}