Two-handed grasping with two-fingered hands

Force-closure two-handed grasps of rigid objects in the two-dimensional space is studied. The hands considered are either flat-surface palms or grippers with two angular-motion fingers. Presented is a condition which establishes the existence of force-closure grasps without knowledge of the shape of the grasped object and of the exact contact locations on the palms or fingers. Further, an algorithm is developed, which determines force-closure grasps based on the position and orientation of the two hands.<>