4 search results - page 1 / 1 » A new algorithm for three-finger force-closure grasp of poly... |
ICRA
2005
IEEE
13 years 10 months ago
2005
IEEE
— 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 cont...
IJRR
2008
13 years 4 months ago
2008
: We present algorithms for computing all placements of two and three fingers that cage a given polygonal object with n edges in the plane. A polygon is caged when it is impossible...
ICRA
2008
IEEE
13 years 11 months ago
2008
IEEE
— This paper discusses the grasp planning of a multifingered hand attached at the tip of a robotic arm. By using the convex models and the new approximation method of the fricti...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
—We prove a new necessary and sufficient condition for 2D three-finger equilibrium grasps and implement a geometrical algorithm for computing force-closure grasps of polygonal ob...