ON COMPUTING MULTI-FINGER FORCE-CLOSURE GRASPS OF 2D OBJECTS

Belkacem Bounab, Daniel Sidobre, Abdelouhab Zaatri

2007

Abstract

In this paper, we develop a new algorithm for computing force-closure grasps of two-dimensional (2D) objects using multifingred hand. Assuming hard-finger point contact with Coulomb friction, we present a new condition for multi-finger to form force-closure grasps. Based on the central axis of contact wrenches, an easily computable algorithm for force-closure grasps has been implemented and its efficiency has been demonstrated by examples.

Paper Citation

in Harvard Style

Bounab B., Sidobre D. and Zaatri A. (2007). ON COMPUTING MULTI-FINGER FORCE-CLOSURE GRASPS OF 2D OBJECTS . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 253-258. DOI: 10.5220/0001624102530258

in Bibtex Style

@conference{icinco07,
author={Belkacem Bounab and Daniel Sidobre and Abdelouhab Zaatri},
title={ON COMPUTING MULTI-FINGER FORCE-CLOSURE GRASPS OF 2D OBJECTS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={253-258},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001624102530258},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ON COMPUTING MULTI-FINGER FORCE-CLOSURE GRASPS OF 2D OBJECTS
SN - 978-972-8865-83-2
AU - Bounab B.
AU - Sidobre D.
AU - Zaatri A.
PY - 2007
SP - 253
EP - 258
DO - 10.5220/0001624102530258