DocumentCode
3498328
Title
On the stability of grasping: three fingers and a planar polygon
Author
Bastuscheck, C. Marc
Author_Institution
Courant Inst., New York Univ., NY, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
100
Abstract
The approach in a stable grasp is examined for the 2-D case of a triangle in contrast with two fixed fingers and one moving finger without mass or friction. A large class of motions is found to result in an equilibrium grip. Realistic application of these results in three dimensions is discussed. Optimum target points for grasping poorly known objects are given
Keywords
robots; stability; 3-finger grasping; equilibrium grip; manipulators; optimum target points; planar polygon; robot; stability; Fingers; Force control; Friction; Grasping; Laboratories; Machine vision; Motion planning; Robot vision systems; Shape; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12031
Filename
12031
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