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Grasp evaluation based on unilateral force closure

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3 Author(s)
Haidacher, S. ; Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany ; Schlegl, T. ; Buss, M.

We present an algorithm which allows qualitative and quantitative analysis of the general force closure property of a grasp when fingertip contact forces are limited by unilateral friction constraints. It is applied to grasp synthesis during regrasping sequences. Contact points for moving fingers which result in structurally stable grasps are calculated. The proposed method is suitable for two and three dimensional grasps with an arbitrary number of fingers. The approach is validated by numerical examples and in dynamical simulations

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:1 )

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