Planning for dexterous manipulation with sliding contacts
International Journal of Robotics Research
On fence design and the complexity of push plans for orienting parts
SCG '97 Proceedings of the thirteenth annual symposium on Computational geometry
The Highly Adaptive SDM Hand: Design and Performance Evaluation
International Journal of Robotics Research
OCOG: A common grasp computation algorithm for a set of planar objects
Robotics and Computer-Integrated Manufacturing
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This paper introduces a principle to guide the design of finger form: invariance of contact geometry over some continuum of varying shape and/or pose of the grasped object in the plane. Specific applications of this principle include scale-invariant and pose-invariant grasps. Under specific conditions, the principle gives rise to spiral shaped fingers, including logarithmic spirals and straight lines as special cases. The paper presents a general technique to solve for finger form, given a continuum of shape or pose variation and a property to be held invariant. We apply the technique to derive scale-invariant and pose-invariant grasps for disks, and we also explore the principle's application to many common devices from jar wrenches to rock-climbing cams.