Abstract
This paper presents a numerical test for the closure properties (force closure and form closure) of multifingered grasps. For three-dimensional (3-D) grasps with frictional point contacts or soft contacts, the numerical test is formulated as a convex constrained optimization problem without linearization of the friction cone. For 3-D frictionless grasps, it can be calculated by solving a single linear program. The proposed numerical test (along with the rank of the grasp matrix) provides an efficient tool for the analysis of the force-closure property and the relative force-closure property.
| Original language | English |
|---|---|
| Pages (from-to) | 543-549 |
| Number of pages | 7 |
| Journal | IEEE Transactions on Robotics and Automation |
| Volume | 20 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Jun 2004 |
| Externally published | Yes |
Keywords
- (Relative) force closure
- Multifingered grasp
- Numerical test