A numerical solution to the ray-shooting problem and its applications in robotic grasping
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A GJK-based approach to contact force feasibility and distribution for multi-contact robots
Robotics and Autonomous Systems
Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots
International Journal of Intelligent Mechatronics and Robotics
Hi-index | 0.00 |
Cable-driven robots and multifinger grasps are closely related to each other by the fact that both systems can provide unidirectional forces to the object to be constrained. While prior research primarily related cable-driven robots to grasps without friction, this article seeks to establish relationships between certain cable-driven robots and grasps with friction. Those relationships are used to transfer the antipodal grasp theorem to cable-driven robots, resulting in the so-called antipodal cable theorem. A planar and spatial version are presented.