A new approach to force distribution and planning for multifingered grasps of solid objects

A novel methodology and algorithmic implementation is proposed for the choice of feasible grasp points on irregular objects. Using a point contact model, grasp points are chosen based on analysis of the internal grasping forces. Frictional, internal, and manipulation forces are taken into account. Frictional constraints are satisfied by tuning the magnitude of the internal forces using the proposed algorithm, which efficiently reduces the amount of computation required. The main thrust of this analysis is the embedding of grasp mechanics-namely intuitive human-like force distribution and computational efficiency-into a practical methodology for grasp planning