Stability of Planar Grasps

@inproceedings{Howard1994StabilityOP,
  title={Stability of Planar Grasps},
  author={W. Stamps Howard and Vijay Kumar},
  booktitle={ICRA},
  year={1994}
}
W. Stamps Howard Vijay Kumar Department of Mechanical Engineering GRASP Laboratory University of Pennsylvania Philadelphia, PA 19104-63 15 Abstract It is well established that all form closed grasps are stable. However, not all stable grasps are form closed, including many common and easily obtainable grasps. This is especially true in whole arm manipulators and multifingered hands where, in many cases, it is difficult or impossible to effect a form closed grasp. Thus it is necessary to… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.

Citations

Publications citing this paper.
Showing 1-10 of 19 extracted citations

Dynamic analysis of mobility and graspability of general manipulation systems

IEEE Trans. Robotics and Automation • 1998
View 4 Excerpts
Highly Influenced

Mobility of bodies in contact. II. How forces are generated by curvature effects

IEEE Trans. Robotics and Automation • 1998
View 3 Excerpts
Highly Influenced

Constructing minimum deflection fixture arrangements using frame invariant norms

IEEE Transactions on Automation Science and Engineering • 2006
View 1 Excerpt

References

Publications referenced by this paper.
Showing 1-7 of 7 references

A Configuration Space Analysis of Bodies in Contact - Part 2: 2nd Order Analysis,

E. Rimon, J . Burdick
Submitted to Mechanism and Machine Theory, • 1993

Constructing Stable Grasps

I. J. Robotics Res. • 1989

Robot Hands und the Mechanics of Manipulation

M. Mason, 1. Salisbury
1985
View 1 Excerpt

Similar Papers

Loading similar papers…