By Topic

Optimal grasps for planar multifingered robotic hands

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

3 Author(s)
Gongliang Guo ; Center for Robotics & Manuf. Syst., Kentucky Univ., Lexington, KY, USA ; Gruver, W.A. ; Qixian Zhang

A fast and simple algorithm for determining optimal grasps of a planar multifingered robotic hand is presented. Using a representation for the stiffness of a planar grasp system, the authors derive conditions for static equilibrium, task-oriented grasping, and stability. An optimization model for determining optimal grasps of a planar multifingered hand is established using a quality measure which includes the effect of the external disturbing forces and moments. A constrained gradient descent technique is used to compute the optimal grasps. An example demonstrates the applicability and effectiveness of the theory

Published in:

Systems, Man and Cybernetics, IEEE Transactions on  (Volume:22 ,  Issue: 1 )