The Power of Friction: Quantifying the \Goodness" of Frictional Grasps
نویسنده
چکیده
This paper attempts to quantify the trade-oos that exist among the number of ngers, coeecient of friction and the goodness of a grasp. In particular, we give a general framework for deening a grasp metric that takes friction into account. We contrast our approach to an older metric that was proposed by Ferrari and Canny FC92] for the frictional case. In addition, we discuss several algorithmic solutions related to fric-tional grasps.
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تاریخ انتشار 2007