 Abstract— This paper addresses the problem of defining a simple End-Effector design for a robotic arm that is able to grasp a given set of planar objects. The OCOG (Objects COmmon Grasp search) algorithm proposed in this paper searches for a common grasp over the set of objects mapping all possible grasps for each object that satisfy force closure and quality criteria by taking into account t...

One the most fundamental aspects of the human motor system is the hemispheric asymmetry seen in behavioral specialization. Hemispheric dominance can be inferred by a contralateral hand preference in grasping. Few studies have considered grasp orientation in the context of manual lateralization and none has looked at grasp orientation with natural prehension. Thirty right-handed adults performed...

One goal of grasp selection for robotics is to choose contact points that guarantee properties such as forceor form-closure. Many efficient algorithms have been developed to address this problem, but most of these algorithms focus on grasps having a minimal number of contact points. Increasing the number of contacts can dramatically improve the quality and flexibility of grasps that are constru...

In this paper, we present a quantitative measure of multifingered grasps. The measure quantifies the capability of a grasp in firmly holding an object while resisting external loads and/or disturbances. It can also be used for qualitative test of closure properties (form closure and force closure). For planar grasps and frictionless three-dimensional (3-D) grasps, the quantitative measure can b...

Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeff...

The secret of success for organizations is the discovery and application of their employees' “talent.” Yet, the most important matter is for individuals to discover their own top talent. Research findings show that each individual has his or her own unique inborn and acquired feature, including special temperament instinct and innateness. Humans’ temperaments and instincts act...