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On computing robust n-finger force-closure grasps of 3D objects

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2 Author(s)
El-Khoury, S. ; L2E, Univ. Pierre et Marie Curie, Paris, France ; Sahbani, A.

The paper deals with computing frictional force-closure grasps of 3D objects problem. The key idea of the presented work is the demonstration that wrenches associated to any three non-aligned contact points of 3D objects form a basis of their corresponding wrench space. This result permits the formulation of a new sufficient force-closure test. Our approach works with general objects, modelled with a set of points, and with any number n of contacts (n ges 4). A quality criterion is also introduced. A corresponding algorithm for computing robust force-closure grasps has been developed. Its efficiency is confirmed by comparing it to the classical convex-hull method [26].

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009

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