A method for grasp evaluation based on disturbance force rejection
نویسندگان
چکیده
منابع مشابه
Grasp Evaluation Based on Unilateral Force
In this paper we present an algorithm which allows qualitative and quantitative analysis of the general force closure property of a grasp when ngertip contact forces are limited by unilateral friction constraints. It is applied to grasp synthesis during re-grasping sequences. Contact points for moving ngers which result in structurally stable grasps are calculated. The proposed method is suitab...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2006
ISSN: 1552-3098
DOI: 10.1109/tro.2006.870665