On the closure properties of robotic grasping
International Journal of Robotics Research
The quickhull algorithm for convex hulls
ACM Transactions on Mathematical Software (TOMS)
On computing four-finger equilibrium and force-closure grasps of polyhedral objects
International Journal of Robotics Research
Curves and surfaces for CAGD: a practical guide
Curves and surfaces for CAGD: a practical guide
Bézier Normal Vector Surface and Its Applications
SMA '97 Proceedings of the 1997 International Conference on Shape Modeling and Applications (SMA '97)
Springer Handbook of Robotics
Control Theory of Multi-fingered Hands: A Modelling and AnalyticalMechanics Approach for Dexterity and Intelligence
Hand Posture Subspaces for Dexterous Robotic Grasping
International Journal of Robotics Research
A linear relaxation technique for the position analysis of multiloop linkages
IEEE Transactions on Robotics
Computation of independent contact regions for grasping3-D objects
IEEE Transactions on Robotics
Design of human symbiotic robot TWENDY-ONE
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Randomized path planning on manifolds based on higher-dimensional continuation
International Journal of Robotics Research
On the generation of a variety of grasps
Robotics and Autonomous Systems
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In this paper we present a new method to solve the configuration problem on robotic hands: determining how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the method presented here allows such contacts to be specified between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experiments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand.