On computing multi-finger force-closure grasps of 2D objects

被引：0
|
作者：
Bounab, Belkacem [1 ]
Sidobre, Daniel [1 ]
Zaatri, Abdelouhab [2 ]
机构：
[1] EMP, Mech Lab Struct, Algiers, Algeria
[2] Mentouri Univ, Adv Technol Lab, Constantine, Algeria
来源：
ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1 | 2007年
关键词：
multi-fingered grasps; force-closure; central axis; grasp wrenches;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we develop a new algorithm for computing force-closure grasps of two-dimensional (2D) objects using multifingred hand. Assuming hard-finger point contact with Coulomb friction, we present a new condition for multi-finger to form force-closure grasps. Based on the central axis of contact wrenches, an easily computable algorithm for force-closure grasps has been implemented and its efficiency has been demonstrated by examples.
引用
收藏
页码：253 / 258
页数：6
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