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Grasp synthesis for planar and solid objects (1992)

Chen, Yu-Che ; Walker, Ian D. ; Cheatham, John B.

In: Other Sources

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Publication Date: 2019-06-28

Description: This paper presents an analysis of the mechanics for multifingered grasps of planar and solid objects. Squeezing and frictional effects between the fingers and the grasped objects is fully visualized through our approach. An algorithm for qualitively choosing the grasp points is developed based on the mechanics of grasping. It is shown further that our method can be easily extended for the soft-fingered grasp model where the torsional moments along the contact normals can be transmitted through the grasp points.

Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT

Type: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54); p. 356-376.

Format: text

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