A force-closure test for soft multi-fingered grasps

DOI10.1007/BF02916873MaRDI QIDQ1129834zbMATH OpenFDO

Authors Bingran Zuo, Wen-Han Qian

Publication date 20 August 1998

Published in Science in China. Series E (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/BF02916873

zbMATH Keywords

contact force spaceexternal wrench spacefriction constraintsmanipulation force spacenecessary and sufficient conditions for force-closure graspsnormal force setstrictly constraint force set

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(7)

• On some weaknesses existing in optimal grasp planning
• Limiting and minimizing the contact forces in multifingered grasping
• Compliant grasping with passive forces
• Force‐closed grasping with two hands
• Active force closure for multiple objects
• Mechanics of form closure
• Linearizing the soft finger contact constraint with application to dynamic force distribution in multifingered grasping

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