On force and form closure for multiple finger grasps

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

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.1996.506972	DOI	Article

Additional Information:

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

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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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