By Topic

Application of the Antipodal Grasp Theorem to Cable-Driven Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Voglewede, P.A. ; Dept. of Mech. Eng., Univ. of South Carolina, Columbia, SC, USA ; Ebert-Uphoff, I.

Cable-driven robots and multifinger grasps are closely related to each other by the fact that both systems can provide unidirectional forces to the object to be constrained. While prior research primarily related cable-driven robots to grasps without friction, this article seeks to establish relationships between certain cable-driven robots and grasps with friction. Those relationships are used to transfer the antipodal grasp theorem to cable-driven robots, resulting in the so-called antipodal cable theorem. A planar and spatial version are presented.

Published in:

Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 4 )