Grasp analysis as linear matrix inequality problems

  title={Grasp analysis as linear matrix inequality problems},
  author={Li Han and Jeffrey C. Trinkle and Z. X. Li},
  journal={IEEE Trans. Robotics and Automation},
Three important problems in the study of grasping and manipulation by multi ngered robotic hands are: (a) Given a grasp characterized by a set of contact points and the associated contact models, determine if the grasp has force closure; (b) If the grasp does not have force closure, determine if the ngers are able to apply a speci ed resultant wrench on the object; and (c) Compute \optimal" contact forces if the answer to problem (b) is a rmative. In this paper, based on an early result by Buss… CONTINUE READING