Rimon, Elon and Burdick, Joel (1996) On force and form closure for multiple finger grasps. In: Proceedings of 1996 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1795-1800. ISBN 0-7803-2988-0. https://resolver.caltech.edu/CaltechAUTHORS:20190612-150234910
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Abstract
This paper considers the relationship between force and form closure. Based on a previously developed mobility theory, the authors give precise definitions for 1st and 2nd order form closure for frictionless grasps. The authors also introduce the new concept of 2nd order force closure. The authors show for the case of frictionless contacts, a grasp is 1st order force closure if and only if it is 1st order form closure. The authors further show that a grasp is 2nd order force closure if and only if it is also 2nd order form closure.
Item Type: | Book Section | ||||||
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Additional Information: | © 1996 IEEE. | ||||||
DOI: | 10.1109/ROBOT.1996.506972 | ||||||
Record Number: | CaltechAUTHORS:20190612-150234910 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190612-150234910 | ||||||
Official Citation: | E. Rimon and J. Burdick, "On force and form closure for multiple finger grasps," Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, 1996, pp. 1795-1800 vol.2. doi: 10.1109/ROBOT.1996.506972 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 96344 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Tony Diaz | ||||||
Deposited On: | 13 Jun 2019 16:35 | ||||||
Last Modified: | 16 Nov 2021 17:20 |
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