Fig. 1From: Automatic grasp planning for self-adjustable gripper frames3D-rendering of the tetrapodal smart-adjustable gripper frame used to elucidate the presented grasp planner (left) and the kinematic tree superimposed on the top-down view of this gripper frame (right). In addition, different gripper geometries and arrangements, i.e. offsets and angles are illustratedBack to article page