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Computing the immobilizing three-finger grasps of planar objects

Ponce, Jean and Burdick, Joel and Rimon, Elon (1995) Computing the immobilizing three-finger grasps of planar objects. In: Computational Kinematics ’95. Solid Mechanics and Its Applications. No.40. Springer Netherlands , Dordrecht, pp. 291-300. ISBN 9789401041478.

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This paper addresses the problem of computing frictionless three-finger immobilizing grasps of two-dimensional objects whose boundaries are described by polynomial splines. Using the mobility theory of Rimon and Burdick, we first develop a set of equations that describe the immobilization constraints. We then present a grasp planning algorithm which uses exact cell decomposition and homotopy continuation techniques to construct an explicit description of the immobilization regions (including sample points) in the contact configuration space. The problem of finding optimal immobilizing grasps reduces to hill climbing in each of these regions. We have implemented the proposed approach and present some preliminary results.

Item Type:Book Section
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URLURL TypeDescription ReadCube access
Rimon, Elon0000-0002-8270-6167
Additional Information:© Springer Science+Business Media Dordrecht 1995. Part of this work was conducted while J. Ponce was visiting the California Institute of Technology as a Beckman associate with the Center for Advanced Study of the University of Illinois at Urbana-Champaign. We gratefully acknowledge support from both institutions and from the Beckman Institute for Advanced Science and Technology. This work was also partially supported by ONR grant N00014-92-J-1920.
Funding AgencyGrant Number
Caltech Beckman InstituteUNSPECIFIED
Office of Naval Research (ONR)N00014-92-J-1920
Subject Keywords:Planar Object, Curvature Form, Polynomial Spline, Quantifier Elimination, Force Closure
Series Name:Solid Mechanics and Its Applications
Issue or Number:40
Record Number:CaltechAUTHORS:20201027-183159536
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106312
Deposited By: Rebecca Minjarez
Deposited On:05 Nov 2020 19:31
Last Modified:16 Nov 2021 18:52

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