We consider the problem of grasping concave objects, i.e., objects whose surface includes regions with negative curvature. When a multifingered hand is used to restrain these objects, these areas can be advantageously used to determine grasps capable of more robustly resisting to external disturbance wrenches. We propose a new grasp quality metric specifically suited for this case, and we use it to inform a grasp planner searching the space of possible grasps. Our findings are validated both in simulation and on a real robot system executing a bin picking task. Experimental validation shows that our method is more effective than those not explicitly considering negative curvature.
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