On the existence and synthesis of multifinger positive grips

DOI10.1007/BF01840373zbMath0652.70003OpenAlexW2013833162MaRDI QIDQ1107337

S. H. Smith

Publication date: 1987

Published in: Algorithmica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf01840373

zbMATH Keywords

grip selectionmultifingered dexterous handpolygonal objectspositive grip

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Differential geometric aspects in kinematics (53A17)

Related Items

Objects that cannot be taken apart with two hands ⋮ Active force closure for multiple objects ⋮ All convex polyhedra can be clamped with parallel jaw grippers ⋮ On some weaknesses existing in optimal grasp planning ⋮ Quantitative Steinitz's theorems with applications to multifingered grasping ⋮ Finding effective ``Force targets for two-dimensional, multifinger frictional grips ⋮ Seven fingers allow force-torque closure grasps on any convex polyhedron ⋮ Optimized Synthesis of Snapping Fixtures ⋮ IMMOBILIZING HINGED POLYGONS

Cites Work

• Finding effective ``Force targets for two-dimensional, multifinger frictional grips
• The generation of convex hulls
• Positive Bases for Linear Spaces
• Theory of Positive Linear Dependence
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