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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:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1996.506972DOIArticle
Additional Information:© 1996 IEEE.
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:03 Oct 2019 21:21

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