• DocumentCode
    299997
  • Title

    New techniques for computing four-finger force-closure grasps of polyhedral objects

  • Author

    Sudsang, Attawith ; Ponce, Jean

  • Author_Institution
    Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
  • Volume
    2
  • fYear
    1995
  • fDate
    21-27 May 1995
  • Firstpage
    1355
  • Abstract
    It was shown in Ponce et al. (1993) that four-finger force-closure grasps fall into three categories: concurrent, pencil, and regulus grasps. The authors propose new techniques for computing these three types of grasps. The authors have implemented them and present examples
  • Keywords
    force; friction; linear programming; manipulators; concurrent grasps; four-finger force-closure grasps; pencil grasps; polyhedral objects; regulus grasps; Algorithm design and analysis; Ear; Fingers; Friction; Linear programming; Optimization methods; Robotics and automation; Sufficient conditions; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
  • Conference_Location
    Nagoya
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-1965-6
  • Type

    conf

  • DOI
    10.1109/ROBOT.1995.525467
  • Filename
    525467
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=299997