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On the stability of grasping: three fingers and a planar polygon

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1 Author(s)
Bastuscheck, C.M. ; Courant Inst., New York Univ., NY, USA

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

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988