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Determining Force-Closure Grasps Reachable by a Given Hand
2012
IFAC Proceedings Volumes
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. This is a very common problem that still requires a practical solution. 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 of regions is iteratively recomputed while
doi:10.3182/20120905-3-hr-2030.00043
fatcat:vcbmwkbmjjgqne6n5e63uksgmq