{"title":"On computing three-finger force-closure grasps of 2-D and 3-D objects","authors":"Jiawei Li, Hong Liu, H. Cai","doi":"10.1109/TRA.2002.806774","DOIUrl":null,"url":null,"abstract":"In this paper, we present a novel algorithm for computing three-finger force-closure grasps of 2D and 3D objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2D and 3D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"100","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Trans. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TRA.2002.806774","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 100
Abstract
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of 2D and 3D objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2D and 3D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only needs a few algebraic calculations. Finally, the algorithm has been implemented and its effectivity has been demonstrated by two examples.
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