Enveloping, frictionless, planar grasping
نویسندگان
چکیده
Grasping by a two-dimensional hand comprised of a palm and two hinged fingers i studied. The mathematics of frictionless grasping is presented and used in the development of a planner/simulator. The simulator computes the motion of the object using an active constraint set method and assuming exact knowledge of the physical properties of the polygonal object, hand, and support.
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