On the existence and synthesis of multifinger positive grips (Q1107337): Difference between revisions

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Latest revision as of 08:33, 30 July 2024

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On the existence and synthesis of multifinger positive grips
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    On the existence and synthesis of multifinger positive grips (English)
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    1987
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    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.
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    positive grip
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    grip selection
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    multifingered dexterous hand
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    polygonal objects
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