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ICRA
1993
IEEE

On the Form-Closure of Polygonal Objects with Frictional and Frictionless Contact Models

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On the Form-Closure of Polygonal Objects with Frictional and Frictionless Contact Models
This paper investigates the problem of "formclosure"for three-fingered grasps of polygonal objects under various combinations of contact models at the contact points. We show that equilibrium can be maintained even when some of the contacts between the fingers and the grasped object are frictionlessand tangential contact forces do not exist. Feasible regions to place the fingers on and to safely manipulate the object under various combination of contact models are identified through our analysis.
Yu-Che Chen, Jeffrey C. Trinkle
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1993
Where ICRA
Authors Yu-Che Chen, Jeffrey C. Trinkle
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