On computing three-finger force-closure grasps of 2-D and 3-D objects

  title={On computing three-finger force-closure grasps of 2-D and 3-D objects},
  author={Jiawei Li and Hong Liu and Hegao Cai},
  journal={IEEE Trans. Robotics and Automation},
In this paper, we present a novel algorithm for computing three-finger force-closure grasps of two-dimensional (2-D) and three-dimensional (3-D) objects. In the case of a robot hand with three hard fingers and point contact with friction, new necessary and sufficient conditions for 2-D and 3-D equilibrium and force-closure grasps have been deduced, and a corresponding algorithm for computing force-closure grasps has been developed. Based on geometrical analysis, the algorithm is simple and only… CONTINUE READING
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