Quantitative Steinitz's theorems with applications to multifingered grasping
Discrete & Computational Geometry
Finding locally optimum force-closure grasps
Robotics and Computer-Integrated Manufacturing
Improving grasp quality evaluation
Robotics and Autonomous Systems
Fast Computation of Optimal Contact Forces
IEEE Transactions on Robotics
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We address the problem of choosing adequate contact forces to ensure the stability of a multi-fingered grasp in face of external disturbances of unknown intensity. The contact forces we look for are tightening, pre-strain forces rather than active, direction-related blocking forces. We compute such tightening forces, together with blocking forces and a lower-bound approximation of an existing grasp quality measure, in only one linear programming problem. The tightening forces ensure robustness to the largest-minimum resisted disturbance wrench, but a variety of optimal contact forces may be further computed from the desired robustness by solving a quadratic programming problem.