Title :
On the stability of grasping: three fingers and a planar polygon
Author :
Bastuscheck, C. Marc
Author_Institution :
Courant Inst., New York Univ., NY, USA
Abstract :
The approach in a stable grasp is examined for the 2-D case of a triangle in contrast with two fixed fingers and one moving finger without mass or friction. A large class of motions is found to result in an equilibrium grip. Realistic application of these results in three dimensions is discussed. Optimum target points for grasping poorly known objects are given
Keywords :
robots; stability; 3-finger grasping; equilibrium grip; manipulators; optimum target points; planar polygon; robot; stability; Fingers; Force control; Friction; Grasping; Laboratories; Machine vision; Motion planning; Robot vision systems; Shape; Stability;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12031
