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Constructing force-closure grasps in 3D

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1 Author(s)
V. -D. Nguyen ; General Electric Corporate Research and Development, Schenectady, NY, USA

This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. A force-closure grasp implies equilibrium grasps exist. In the reverse direction, we prove that non-marginal equilibrium grasps with at least two soft-finger contacts, or three hard-finger contacts with friction are also force-closure grasps.

Published in:

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

Date of Conference:

Mar 1987