The Synthesis of Force-Closure Grasps
This paper addresses the problem of synthesizing planar grasps that have force closure. A grasp on an object is a force closure grasp if and only if we can exert, through the set of contacts, arbitrary force and moment on this object. Equivalently, any motion of the object is resisted by a contact f...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6430 |