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Easy and fast evaluation of grasp stability by using ellipsoidal approximation of friction cone
2009
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
This paper presents an easy and fast method of testing force closure when a multi-fingered hand grasps an object. Different from previous methods, we consider approximating the friction cone by using a few ellipsoids. By using this method, the total force/moment set applied to the grasped object can be obtained by a common set of multiple ellipsoids. This method is effective since we can test the force closure by simply calculating the inequalities of quadratic form. Moreover, by using the
doi:10.1109/iros.2009.5354501
dblp:conf/iros/TsujiHK09
fatcat:a5c7qlglifbvnilazaq2rsrgx4