New techniques for computing four-finger force-closure grasps of polyhedral objects
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729) , 1355-1360
- https://doi.org/10.1109/robot.1995.525467
Abstract
It was shown in Ponce et al. (1993) that four-finger force-closure grasps fall into three categories: concurrent, pencil, and regulus grasps. The authors propose new techniques for computing these three types of grasps. The authors have implemented them and present examples.Keywords
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