By Topic

Constructing force-closure grasps in 3D

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

1 Author(s)
Nguyen, V.-D. ; 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