Abstract
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.
| Original language | English |
|---|---|
| Pages (from-to) | 155-161 |
| Number of pages | 7 |
| Journal | IEEE Transactions on Robotics and Automation |
| Volume | 19 |
| Issue number | 1 |
| DOIs | |
| State | Published - Feb 2003 |
| Externally published | Yes |
Keywords
- Equilibrium grasps
- Force-closure grasps
- Grasp planning
- Multifingered robot hand
Fingerprint
Dive into the research topics of 'On computing three-finger force-closure grasps of 2-D and 3-D objects'. Together they form a unique fingerprint.Cite this
- APA
- Author
- BIBTEX
- Harvard
- Standard
- RIS
- Vancouver