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Enveloping, frictionless, planar grasping

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3 Author(s)
Trinkle, J.C. ; University of Pennsylvania, Philadelphia, PA ; Abel, J. ; Paul, R.P.

Grasping by a two-dimensional hand comprised of a palm and two hinged fingers is studied. The mathematics of frictionless grasping is presented and used in the development of a planner/simulator, The simulator computes the motion of the object using an active constraint set method and assuming exact knowledge of the physical properties of the polygonal object, hand, and support.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987