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A qualitative test for N-finger force-closure grasps on planar objects with applications to manipulation and finger gaits

Chen, I-Ming and Burdick, Joel W. (1993) A qualitative test for N-finger force-closure grasps on planar objects with applications to manipulation and finger gaits. In: Proceedings IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 814-820. ISBN 0-8186-3450-2. https://resolver.caltech.edu/CaltechAUTHORS:20170531-171505129

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Abstract

This paper presents a force-closure test function for an n-finger grasp on a planar object with friction. All n-finger grasps can be represented by an n-dimensional contact space. The critical conditions of the test function are used to define force-closure curves which are the boundaries of force-closure sets in the contact configuration space. We show that the force closure sets can be decomposed into subsets in which m (m < n) fingers satisfy force closure. We also prove that m = 6 is an upper bound on the order of the force closure subsets. These subsets are required for planning finger gait maneuvers which are force-closure in all phases of the gait. The characteristics of these subsets are discussed, and an algorithm to enumerate them is given. The application of the test function and the contact configuration space formulation to multifinger object manipulation and finger gait planning is demonstrated by an example.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1993.291934DOIArticle
http://ieeexplore.ieee.org/document/291934/PublisherArticle
Additional Information:© 1993 IEEE. This work and the preparation of this report was supported by a Caltech President's Fund grant and an NSF Young Investigator Award MSS-9157843. We also wish to thank Prof. Richard Murray for many helpful discussions and comments.
Funders:
Funding AgencyGrant Number
Caltech President’s FundUNSPECIFIED
NSFMSS-9157843
Record Number:CaltechAUTHORS:20170531-171505129
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170531-171505129
Official Citation:I. M. Chen and J. W. Burdick, "A qualitative test for N-finger force-closure grasps on planar objects with applications to manipulation and finger gaits," [1993] Proceedings IEEE International Conference on Robotics and Automation, Atlanta, GA, 1993, pp. 814-820 vol.2. doi: 10.1109/ROBOT.1993.291934
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77871
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:01 Jun 2017 15:05
Last Modified:03 Oct 2019 18:02

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