On force and form closure for multiple finger grasps
نویسندگان
چکیده
This paper considers the relationship between force and form closure. Based on a recently developed mobility theory, we give precise deenitions for 1 st and 2 nd order form closure for frictionless grasps. We also introduce the new concept of 2 nd order force closure. We show for the case of frictionless contacts, a grasp is 1 st order force closure if and only if it is 1 st order form closure. We further show that a grasp is 2 nd order force closure if and only if it is also 2 nd order form closure.
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تاریخ انتشار 1996