Cart (Loading....) | Create Account
Close category search window

Heuristic grasp planning with three frictional contacts on two or three faces of a polyhedron

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)
Prado, R. ; Instituto de Organ. y Control de Sistemas Ind., Alcatel Stand. Electr., Madrid ; Suarez, R.

This paper presents a heuristic approach to the synthesis of force closure grasps of polyhedral objects using three contact points with friction. The approach is valid for sets of three faces as well as for sets of two faces (i.e. two contact points in the same object face). First, the sets of two and three object faces whose relative orientations and positions allow force closure grasps are determined. Second, these sets are evaluated with a quality function and the best one is selected for the grasp. Finally, the grasp contact points that generate a force closure grasp are determined on the selected set of faces. The method uses simple geometric reasoning on the projections of the faces on two orthogonal planes

Published in:

Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005. (ISATP 2005). The 6th IEEE International Symposium on

Date of Conference:

19-21 July 2005

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.