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ICRA
2008
IEEE

Central axis approach for computing n-finger force-closure grasps

9 years 4 months ago
Central axis approach for computing n-finger force-closure grasps
— In this paper, we propose a new approach for computing force-closure grasps of two-dimensional and threedimensional objects. Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench (i.e., force and torque), we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure. We demonstrate that a grasp is force-closure if and only if, its wrench can generate any arbitrary central axis. According to this condition, we reformulate the force-closure test as a linear programming problem without computing the convex hull of the primitive contact wrenches. Therefore, we present an efficient algorithm for computing n-finger force-closure grasps. Finally, we have implemented the proposed algorithm and verified its efficiency through some examples.
Belkacem Bounab, Daniel Sidobre, Abdelouhab Zaatri
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Belkacem Bounab, Daniel Sidobre, Abdelouhab Zaatri
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