Grasp synthesis for planar and solid objectsThis paper presents an analysis of the mechanics for multifingered grasps of planar and solid objects. Squeezing and frictional effects between the fingers and the grasped objects is fully visualized through our approach. An algorithm for qualitively choosing the grasp points is developed based on the mechanics of grasping. It is shown further that our method can be easily extended for the soft-fingered grasp model where the torsional moments along the contact normals can be transmitted through the grasp points.
Document ID
19930043037
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chen, Yu-Che (Tulsa Univ. OK, United States)
Walker, Ian D. (NASA Lyndon B. Johnson Space Center Houston, TX, United States)
Cheatham, John B. (Rice Univ. Houston, TX, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54)
Publisher: Society of Photo-Optical Instrumentation Engineers