Grasp synthesis for planar and solid objects

Yu-Che Chen; Ian David Walker; John B. Cheatham, Jr.

doi:10.1117/12.56772

1 March 1992 Grasp synthesis for planar and solid objects

Yu-Che Chen, Ian David Walker, John B. Cheatham, Jr.

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56772
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

This paper presents an analysis of the mechanics for multifingered grasps of planar and solid objects. Squeezing and frictional effects between the fingers and the grasped objects is fully visualized through our approach. An algorithm for qualitively choosing the grasp points is developed based on the mechanics of grasping. it is shown further that our method can be easily extended for the soft-fingered grasp model where the torsional movements along the contact normals can be transmitted through the grasp points.

Citation Download Citation

Yu-Che Chen, Ian David Walker, and John B. Cheatham, Jr. "Grasp synthesis for planar and solid objects", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56772

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