Constructing force-closure grasps
International Journal of Robotics Research
The kinematics of contact and grasp
International Journal of Robotics Research
On the closure properties of robotic grasping
International Journal of Robotics Research
On computing four-finger equilibrium and force-closure grasps of polyhedral objects
International Journal of Robotics Research
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
A strategy for grasping unknown objects based on co-planarity and colour information
Robotics and Autonomous Systems
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This paper presents a new formulation of computing three-dimensional (3-D) frictional form-closure grasps of n robotic fingers. As 3-D form-closure grasps involve 6-D wrench space, we first propose a recursive reduction technique to transform the complicated problem in the 6-D space into a simpler 3-D one. Next, we rewrite the sufficient and necessary condition for form-closure grasps into its equivalent form of two sets of linear inequalities. Then, according to the linear inequality theory, the problem is transformed to searching for a set of points which ensure the inconsistency of each of the two linear inequality systems. To search for such points, we proposed two methods: The first one is based on testing whether the convex region formed by each linear inequality system is empty, while the second one relies on the potential field method. We have implemented the algorithm and confirmed their efficiency for the synthesis of 3-D form-closure grasps.