Title :
New techniques for computing four-finger force-closure grasps of polyhedral objects
Author :
Sudsang, Attawith ; Ponce, Jean
Author_Institution :
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
Abstract :
It was shown in Ponce et al. (1993) that four-finger force-closure grasps fall into three categories: concurrent, pencil, and regulus grasps. The authors propose new techniques for computing these three types of grasps. The authors have implemented them and present examples
Keywords :
force; friction; linear programming; manipulators; concurrent grasps; four-finger force-closure grasps; pencil grasps; polyhedral objects; regulus grasps; Algorithm design and analysis; Ear; Fingers; Friction; Linear programming; Optimization methods; Robotics and automation; Sufficient conditions; Torque;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525467
