A quantitative test for form closure grasps /
Abstract: "Grasp and manipulation planning of slippery objects often relies on the 'form closure' grasp, which is stable regardless of the external force applied to the object. Despite its importance, a quantitative test for form closure valid for any number of contact points is not...
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| Format: | Book |
| Language: | English |
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College Station, Tex. :
Texas A & M University, Computer Science Dept.,
[1991]
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| Series: | Technical report (Texas A & M University. Computer Science Department) ;
91-043. |
| Subjects: |
| Summary: | Abstract: "Grasp and manipulation planning of slippery objects often relies on the 'form closure' grasp, which is stable regardless of the external force applied to the object. Despite its importance, a quantitative test for form closure valid for any number of contact points is not available. The primary contribution of this paper is the introduction of such a test formulated as a linear program, of which the optimal objective value provides a measure of how far a grasp is from losing form closure. While the test is formulated for frictionless grasps, we discuss how it can be modified to identify grasps with 'frictional form closure.' |
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| Item Description: | "December 1991." |
| Physical Description: | 19 leaves : illustrations ; 28 cm. |
| Bibliography: | Includes bibliographical references. |