Computation of Force Closure Grasps from Finite Contact Point Set

A Robot, from its very name, literally means “forced labor”. To live up to this title, an ability to interact with milieu is crucial. A robot should be able to manipulate objects. With a hand capable of grasping, a robot is blessed with greater degree of influent. Complex manipulation and maneuver are possible with grasping. Moreover, grasping allows robot to use tools readily available for human. For example, instead of having a robot with various switchable specialized end effectors, we can build a robot with dexterous hands and make available tools usable by both robot and human. The later situation is more robust than the first. Without a doubt, grasping is an essential ability of a robot, especially a humanoid one.