Geometric Reformulation of 3-Fingered Force-Closure Condition

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Geometric Reformulation of 3-Fingered Force-Closure Condition
— This paper addresses the problem of testing whether three contact points form a 3-fingered force-closure grasp in two dimensions. In particular, assuming frictional point contacts, we present a new necessary and sufficient condition for three fingers to form a force-closure grasp. The proposed condition is based on a technique for representing a friction cone as a line segment in a dual plane. This representation allows force-closure test to be formulated as the problem of intersection detection between a line segment and a convex polygon. The resulting geometric condition is presented along with an efficient algorithm for using the condition in force-closure test.
Attawith Sudsang, Thanathorn Phoka
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Attawith Sudsang, Thanathorn Phoka
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