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Mobility of bodies in contact. I. A 2nd-order mobility index formultiple-finger grasps

Rimon, Elon and Burdick, Joel W. (1998) Mobility of bodies in contact. I. A 2nd-order mobility index formultiple-finger grasps. IEEE Transactions on Robotics and Automation, 14 (5). pp. 596-608. ISSN 1042-296X.

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Using a configuration-space approach, the paper develops a 2nd-order mobility theory for rigid bodies in contact. A major component of this theory is a coordinate invariant 2nd-order mobility index for a body, B, in frictionless contact with finger bodies A1,...A k. The index is an integer that captures the inherent mobility of B in an equilibrium grasp due to second order, or surface curvature, effects. It differentiates between grasps which are deemed equivalent by classical 1st-order theories, but are physically different. We further show that 2nd-order effects can be used to lower the effective mobility of a grasped object, and discuss implications of this result for achieving new lower bounds on the number of contacting finger bodies needed to immobilize an object. Physical interpretation and stability analysis of 2nd-order effects are taken up in the companion paper

Item Type:Article
Additional Information:© Copyright 1998 IEEE. Reprinted with permission. Manuscript received September 28, 1994; revised June 8, 1998. This work was supported by the Office of Naval Research Young Investigator Award N00014-92-J-1920. This paper was recommended for publication by Associate Editor Y. Nakamura and Editor A. Goldenberg upon evaluation of the reviewers’ comments. The authors would also like to thank Dr. R. Murray for his comments during numerous technical discussions.
Subject Keywords:Curvature, fixturing, geometry, grasping, kinematics, mobility
Record Number:CaltechAUTHORS:RIMieeetra98a
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:5733
Deposited By: Archive Administrator
Deposited On:30 Oct 2006
Last Modified:26 Dec 2012 09:14

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