Quantitative Steinitz's theorems with applications to multifingered grasping
STOC '90 Proceedings of the twenty-second annual ACM symposium on Theory of computing
Parallel methods for synthesizing whole-hand grasps from generalized prototypes
Parallel methods for synthesizing whole-hand grasps from generalized prototypes
Coping with the Grasping Uncertainties in Force-closure Analysis
International Journal of Robotics Research
A method for grasp evaluation based on disturbance force rejection
IEEE Transactions on Robotics
Optimal tightening forces for multi-fingered robust manipulation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Interactive teaching of task-oriented robot grasps
Robotics and Autonomous Systems
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The capability to equilibrate external wrenches is crucial in optimal grasp planning. This paper presents a new method for evaluating this capability when the external wrench is unknown. Two criteria are reformulated using the L"2 distance function, and further transformed into two nonlinear optimization problems. The differentiability of the objective functions and choice of initial conditions for global optimization are discussed. Keeping all the merits, that the criteria are applicable to grasps of 3-D objects with any contact types, and that the friction cones are not linearized, this work endows them with several new virtues: (a) Their formulation and computation are unified for both force-closure and non-force-closure grasps; (b) They are independent of the choice of coordinate frame and unit; (c) The object geometry is taken into account; (d) The computational efficiency is even higher than some methods by linearizing the friction cones.