Table 2.

Experimental object of gripper grasps.

Number	Target		Size (mm)	Weight (g)
a	Box		150 × 150 ×  H52	552
b	Calculator		165 × 190 ×  H85	230
c	Electric drill		191 × 191 ×  50	961
d	Hammer		230 × 100 ×  H30	331
e	Hexagonal sleeve		Φ8 ×  H10	10
f	Small clump weight		Φ105 × H22	350
g	Consumables		Φ133 × H22	660
h	Large clump weight		Φ208 × H25	2500
i	Clothes		Arbitrary shape	200
j	Ring		Φ346 Φ270	30
k	Pillow		350 ×  250	300
l	Pot		Φ310  ×  130	2300