Easily computable optimum grasps in 2-D and 3-D
- 17 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
We consider the problem of finding optimum forceclosure grasps of two and three-dimensional objects.Our focus is on grasps which are useful in practice,namely grasps with a small number of fingers, withfriction at the contacts. Assuming frictional contactand rounded finger tips---very mild assumptions inpractice---we give new upper (and lower) bounds onthe number of fingers necessary to achieve force closuregrasps of 2-D and 3-D objects. We develop anoptimality criterion based on the...Keywords
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