On the existence and synthesis of multifinger positive grips (Q1107337): Difference between revisions
From MaRDI portal
Set profile property. |
Set OpenAlex properties. |
||
(One intermediate revision by one other user not shown) | |||
Property / cites work | |||
Property / cites work: Q5581251 / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: The generation of convex hulls / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Q5341481 / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Theory of Positive Linear Dependence / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Positive Bases for Linear Spaces / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Finding effective ``Force targets'' for two-dimensional, multifinger frictional grips / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Q3913524 / rank | |||
Normal rank | |||
Property / full work available at URL | |||
Property / full work available at URL: https://doi.org/10.1007/bf01840373 / rank | |||
Normal rank | |||
Property / OpenAlex ID | |||
Property / OpenAlex ID: W2013833162 / rank | |||
Normal rank |
Latest revision as of 08:33, 30 July 2024
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | On the existence and synthesis of multifinger positive grips |
scientific article |
Statements
On the existence and synthesis of multifinger positive grips (English)
0 references
1987
0 references
We study the criteria under which an object can be gripped by a multifingered dexterous hand assuming no static friction between the object and the fingers; such grips are called positive grips. We study three cases in detail: (i) the body is at equilibrium, (ii) the body is under some constant external force/torque, and (iii) the body is under a varying external force/torque. In each case we obtain tight bounds on the number of fingers needed to obtain grip. We also present efficient algorithms to synthesize such positive grips for bounded polyhedral/polygonal objects; the number of fingers employed in the grips synthesized by our algorithms match the above bounds. The algorithms run in time linear in the number of faces/sides. The paper may be of independent interest for its presentation of algorithms arising in the sudy of positive linear spaces.
0 references
positive grip
0 references
grip selection
0 references
multifingered dexterous hand
0 references
polygonal objects
0 references