ISSN:
1432-0541
Keywords:
Positive grip
;
Grip selection
;
Force/torque
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mathematics
Notes:
Abstract We study the criteria under which an object can be gripped by a multifingered dexterous hand, assuming no static friction between the object and the fingers; such grips are calledpositive grips. We study three cases in detail: (i) the body is at equilibrium, (ii) the body is under some constant external force/torque, and (iii) the body is under a varying external force/torque. In each case we obtain tight bounds on the number of fingers needed to obtain grip. We also present efficient algorithms to synthesize such positive grips for bounded polyhedral/polygonal objects; the number of fingers employed in the grips synthesized by our algorithms match the above bounds. The algorithms run in time linear in the number of faces/sides. The paper may be of independent interest for its presentation of algorithms arising in the study of positive linear spaces.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01840373
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