By Topic

Grasp evaluation based on unilateral force closure

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)
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 )

Date of Conference:

1999