Central axis approach for computing n-finger force-closure grasps

被引：13
作者：
Bounab, B. [1 ,2 ]
Sidobre, D. [2 ]
Zaatri, A. [3 ]
机构：
[1] Mil Polytech Sch LMS EMP, Lab Struct Mech, Bp 17, Bordj 16111, El Bahri, Algeria
[2] Univ Toulouse 2, CNRS, LAAS, F-31077 Toulouse, France
[3] Lab Adv Technol Applicat, Constantine 25000, Algeria
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年
关键词：
multifingered robotic hand; force-closure grasp; grasp optimization;
D O I：
10.1109/ROBOT.2008.4543362
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we propose a new approach for computing force-closure grasps of two-dimensional and three-dimensional objects. Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench (i.e., force and torque), we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure. We demonstrate that a grasp is force-closure if and only if, its wrench can generate any arbitrary central axis. According to this condition, we reformulate the force-closure test as a linear programming problem without computing the convex hull of the primitive contact wrenches. Therefore, we present an efficient algorithm for computing n-finger force-closure grasps. Finally, we have implemented the proposed algorithm and verified its efficiency through some examples.
引用
收藏
页码：1169 / +
页数：2
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