Abstract
In this paper we present an algorithm which allows qualitative and quantitative analysis of the general force closure property of a grasp when fingertip contact forces are limited by unilateral friction constraints. It is applied to grasp synthesis during re-grasping sequences. Contact points for moving fingers which result in structurally stable grasps are calculated. The proposed method is suitable for two and three dimensional grasps with an arbitrary number of fingers. The approach is validated by numerical examples and in dynamical simulations.
| Original language | English |
|---|---|
| Pages | 424-429 |
| Number of pages | 6 |
| State | Published - 1999 |
| Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 17 Oct 1999 → 21 Oct 1999 |
Conference
| Conference | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
|---|---|
| City | Kyongju, South Korea |
| Period | 17/10/99 → 21/10/99 |