Determining Force-Closure Grasps Reachable by a Given Hand

Fidel Gilart, Raúl Suárez
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
more » ... looking for a set of contact points that are reachable by a given hand. The search is done guided by a cost function that indicates the proximity of the hand fingertips to a candidate set of grasping contact points. The approach has been implemented for the Schunk Anthropomorphic Hand and planar objects, and application examples are included to illustrate its performance.
doi:10.3182/20120905-3-hr-2030.00043 fatcat:vcbmwkbmjjgqne6n5e63uksgmq