Computing 3-D optimal form-closure grasps

@article{Ding2000Computing3O,
  title={Computing 3-D optimal form-closure grasps},
  author={Dan Ding and Yunhui Liu and Shuguo Wang},
  journal={Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)},
  year={2000},
  volume={4},
  pages={3573-3578 vol.4}
}
We address the problem of computing optimal fingertip locations yielding n-finger form-closure grasps of polyhedral objects. Given grasping points of m fingers not in form-closure, we show that the calculation of optimal grip points for the n-m fingers can be viewed as a nonlinear programming problem. We propose a sufficient and necessary condition for the n-m fingers to achieve an n-finger form-closure grasp with the m fingers given. Based on this condition, we derive a set of nonlinear… CONTINUE READING

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