论文信息 - Constructing Force- Closure Grasps

Constructing Force- Closure Grasps

This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object. The synthesis of force-closure grasps finds in dependent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. A force- closure grasp implies equilibrium grasps exist. In the reverse direction, we show that most nonmarginal equilibrium grasps are force-closure grasps.

Van-Duc Nguyen | V.-D. Nguyen

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