Fast construction of force-closure grasps

This article presents a new theorem and an algorithm for fast synthesis of two-fingered force-closure grasps for arbitrary polygonal objects. The polygonal objects are allowed to be of arbitrary shape, in the sense that there is no restriction that the objects be convex. Moreover, each edge of the polygon is allowed to have different frictional characteristics. Our novel formulation results in a simple and efficient algorithm that finds grasps that tolerate the largest positioning errors for each of the fingertips at the contact points. The algorithm is both complete and correct, meaning that if any force-closure grasp exists for the object, the algorithm will find it; furthermore, all the grasps synthesized by the algorithm are guaranteed to be valid force-closure grasps