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On Computing Four-Finger Equilibrium and Force-Closure Grasps of Polyhedral Objects

Jean Ponce, Steve Sullivan, Attawith Sudsang, Jean-Daniel Boissonnat, Jean-Pierre Merlet
1997 The international journal of robotics research  
This paper addresses the problem of computing stable grasps of three-dimensional polyhedral objects.  ...  We prove new necessary and su cient conditions for equilibrium and force closure, and present a geometric characterization of all possible types of four-nger equilibrium grasps.  ...  We will say that such a grasp achieves force closure. This paper addresses the problem of characterizing and computing four-nger equilibrium and force-closure grasps of polyhedral objects.  ... 
doi:10.1177/027836499701600102 fatcat:357p7i7twbee3avzdd5el6ywza

Performances of the central-axis approach in grasp analysis

B Bounab, D Sidobre, A Zaatri
2010 2010 IEEE International Conference on Robotics and Automation  
The proposed quantitative force-closure test offers a good quality metric without computing the convex hull of the primitive contact wrenches in R 6 , which efficiently reduces the amount of computation  ...  In the present paper, we extend our study by developing and analyzing modified force-closure algorithms, and giving rigorous theoretical demonstrations.  ...  Using this method, we generate 200 starting postures randomly and we compute the resulting grasps on various polyhedral objects.  ... 
doi:10.1109/robot.2010.5509665 dblp:conf/icra/BounabSZ10 fatcat:upz6gtvfprbmpefaccaxcdlyoe

An overview of 3D object grasp synthesis algorithms

A. Sahbani, S. El-Khoury, P. Bidaud
2012 Robotics and Autonomous Systems  
Existing papers focus on reviewing the mechanics of grasping and the finger-object contact interactions [7] or robot hand design and their control [1].  ...  This overview presents computational algorithms for generating 3D object grasps with autonomous multi-fingered robotic hands.  ...  Based on the intersection of the corresponding three friction cones, the authors compute three-finger force-closure grasp of 2D objects based on geometrical analysis.  ... 
doi:10.1016/j.robot.2011.07.016 fatcat:wjex7zzdw5aonh5xzpajsperhe

Stochastic optimization-based approach for multifingered grasps synthesis

Belkacem Bounab, Abdenour Labed, Daniel Sidobre
2010 Robotica (Cambridge. Print)  
Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench, we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure  ...  In this paper, we propose an approach for computing suboptimal grasps of polyhedral objects.  ...  The research leading to these results has received funding from Algerian government and from the European Community's Seventh Framework Program (FP7/2007-2013) under grant agreement no. 216239.  ... 
doi:10.1017/s0263574709990889 fatcat:hhe6vpx7cnfhpbqr4sd32x7xn4

On computing three-finger force-closure grasps of 2-d and 3-d objects

Jia-Wei Li, Hong Liu, He-Gao Cai
2003 IEEE Transactions on Robotics and Automation  
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects.  ...  In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and  ...  [10] , [11] studied fourfinger 3-D force-closure grasps of polyhedral objects.  ... 
doi:10.1109/tra.2002.806774 fatcat:7375fq23gbh73kal5tsx74cnma

A Polyhedral Bound on the Indeterminate Contact Forces in Planar Quasi-Rigid Fixturing and Grasping Arrangements

E. Rimon, J.W. Burdick, T. Omata
2006 IEEE Transactions on robotics  
His research interests include computational geometry algorithms in robotics, sensor-based motion planning, mobile robot problems, grasping and fixturing, and robotic locomotion. Joel W.  ...  Elon Rimon (M'96) received the B.Sc. degree in computer engineering from the Technion, Israel Institute of Technology, Haifa, Israel, in 1985, and the Ph.D. degree in electrical engineering from Yale University  ...  A -finger grasp is force closure if the contact forces can generate any net wrench on the grasped object [26] . Lemma 5.1: Let be held in an equilibrium grasp by fingers.  ... 
doi:10.1109/tro.2005.862478 fatcat:yggifw543bgg3ej5ojdbyomuxu

Mathematical Studying in Control of Grasping

Eman Mirzaieepoor
2016 International Journal of Science and Qualitative Analysis  
It should be noted that the main difference between force closure and also form closure grasps is the latter's reliance on contact friction.  ...  A form closure grasp assurances the maintenance of contact as long as the links of the hand and the proposed object are also well verged on as rigid and as long as the joint actuators are sturdy enough  ...  If we want to grasp a formerly known object, or if we can attain a full 3D model of the object, next several approaches for instance ones based on friction cones [15, 16] , form-and force-closure [17  ... 
doi:10.11648/j.ijsqa.20160201.11 fatcat:sh6b6yyyfnd7rkul5rx74cxn5u

On two-finger grasping of deformable planar objects

Yan-Bin Jia, Feng Guo, Jiang Tian
2011 2011 IEEE International Conference on Robotics and Automation  
Grasping a deformable object instantaneously requires maintaining equilibrium of its pre-and post-deformed shapes using the same set of forces.  ...  This paper studies the type of grasps generated by squeezing a planar object with two fingers.  ...  [10] derived several necessary and sufficient conditions for force closure on polyhedral objects.  ... 
doi:10.1109/icra.2011.5980565 dblp:conf/icra/JiaGT11 fatcat:64ahz57qyzayph5ihcdv7cnene

Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity

A. Bicchi
2000 IEEE Transactions on Robotics and Automation  
The survey is focused mainly on three types of functional requirements a machine hand can be assigned in an artificial system, namely, manipulative dexterity, grasp robustness, and human operability.  ...  In this paper, an attempt at summarizing the evolution and the state of the art in the field of robot hands is made.  ...  Grasp Properties In order to define what grasping robustness is, the notions of form-closure and force-closure of grasps are instrumental.  ... 
doi:10.1109/70.897777 fatcat:iaqk676q35bcxb6ds332qmz2jm

Determining Force-Closure Grasps Reachable by a Given Hand

Fidel Gilart, Raúl Suárez
2012 IFAC Proceedings Volumes  
The proposed method is based on the computation of a set of independent contact regions on the object boundary such that a finger contact on each region produce a force-closure grasp, and then this set  ...  The paper presents an approach to find contact points on an object surface that are reachable by a given hand and such that the resulting grasp satisfies the force-closure condition.  ...  The wrenches produced by forces on the two boundaries of the friction cone for 2D objects or by m forces on the boundary of the friction cone for 3D objects (such that the m forces define a polyhedral  ... 
doi:10.3182/20120905-3-hr-2030.00043 fatcat:vcbmwkbmjjgqne6n5e63uksgmq

Immobilizing 2D serial chains in form closure grasps

Elon Rimon, Frank van der Stappen
2010 2010 IEEE International Conference on Robotics and Automation  
His research interests include computational geometry algorithms in robotics, sensor-based motion planning, mobile robot problems, grasping and fixturing, and robotic locomotion. A.  ...  Elon Rimon (M'96) received the B.Sc. degree in computer engineering from the Technion, Israel Institute of Technology, Haifa, Israel, in 1985 and the Ph.D. degree from Yale University, New Haven, CT, in  ...  Stage 4 incorporates the net force line acting on B 1 through the joint l 1 as to generate a robust four-finger equilibrium grasp of B 1 .  ... 
doi:10.1109/robot.2010.5509946 dblp:conf/icra/RimonS10 fatcat:tm6ubouanvdolkywrx5e24ilke

Immobilizing 2-D Serial Chains in Form-Closure Grasps

Elon Rimon, A. Stappen
2012 IEEE Transactions on robotics  
His research interests include computational geometry algorithms in robotics, sensor-based motion planning, mobile robot problems, grasping and fixturing, and robotic locomotion. A.  ...  Elon Rimon (M'96) received the B.Sc. degree in computer engineering from the Technion, Israel Institute of Technology, Haifa, Israel, in 1985 and the Ph.D. degree from Yale University, New Haven, CT, in  ...  Stage 4 incorporates the net force line acting on B 1 through the joint l 1 as to generate a robust four-finger equilibrium grasp of B 1 .  ... 
doi:10.1109/tro.2011.2167389 fatcat:egltyte3wbfybfz25ttozfgmqm

GRASP PLANNING WITH FOUR FRICTIONAL CONTACTS ON POLYHEDRAL OBJECTS

Ricardo Prado, Raúl Suárez
2006 IFAC Proceedings Volumes  
This paper addresses the problem of computing force-closure grasps with four non-coplanar contact points.  ...  a quality function and the best one is selected for the grasp; Finally, on the selected faces, according to the possible types of non-planar grasp, four contact points assuring a force-closure grasp are  ...  INTRODUCTION A grasp of an object is force-closure if and only if the fingers can apply, through the contact points, forces that generate an arbitrary force and moment on the object.  ... 
doi:10.3182/20060906-3-it-2910.00104 fatcat:iwzjbe3v2nf4jkosmp5hyr4yli

Mobility of bodies in contact. I. A 2nd-order mobility index for multiple-finger grasps

E. Rimon, J.W. Burdick
1998 IEEE Transactions on Robotics and Automation  
We further show that 2nd-order effects can be used to lower the effective mobility of a grasped object, and discuss implications of this result for achieving new lower bounds on the number of contacting  ...  finger bodies needed to immobilize an object.  ...  That is, three contact points (instead of four for force closure) for 2-D grasps and four contact points (instead of seven for force closure) for 3-D grasps.  ... 
doi:10.1109/70.720346 fatcat:cac6a7tbtbaobb3xrzjr3hvbsa

On some weaknesses existing in optimal grasp planning

Yu Zheng, Wen-Han Qian
2008 Mechanism and Machine Theory  
Ponce et al. [26] promoted Nguyen's idea [20] to four-finger force-closure grasps on polyhedral objects.  ...  On irregular 2D and 3D objects, Chen and Burdick [24] considered two-finger antipodal point grasps, and Li et al. [25] developed a geometrical algorithm for computing three-finger force-closure grasps.  ...  This work was supported by the National Natural Science Foundation of China under Grant 59685004.  ... 
doi:10.1016/j.mechmachtheory.2007.05.001 fatcat:pyrguykbjrcujojdrikslsaglu
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