Stability of Planar Grasps

  title={Stability of Planar Grasps},
  author={W. Stamps Howard and Vijay Kumar},
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

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