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Easily computable optimum grasps in 2-D and 3-D

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2 Author(s)
Mirtich, B. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Canny, J.

We consider the problem of finding optimum force closure grasps of two and three-dimensional objects. Our focus is on grasps which are useful in practice, namely grasps with a small number of fingers, with friction at the contacts. Assuming frictional contact and rounded finger tips-very mild assumptions in practice-we give new upper (and lower) bounds on the number of fingers necessary to achieve force closure grasps of 2-D and 3-D objects. We develop an optimality criterion based on the notion of decoupled wrenches, and use this criterion to derive optimum two and three finger grasps of 2-D objects, and optimum three finger grasps for 2-D objects. We present a simple O(n) algorithm for computing these optimum grasps for convex polygons, a O(n log n) algorithm for nonconvex polygons, and an O(n3) algorithm for polyhedra. In studying these optimum grasps, we derive several interesting theoretical results concerning grasp geometry

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994