Abstract
The existence of two- and three-finger grasps in the presence of arbitrarily small friction is shown for two- and three-dimensional smooth objects using a simple technique. No convexity of the objects is assumed. The existence of finger gaits for rotating a planar object using three and four fingers is proved. Additional results for smooth convex objects which describe two different finger gaits using four fingers are presented.
| Original language | English (US) |
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| Title of host publication | Proceedings of the workshop on geometric algorithms for manufacturing (ICRA '93) Atlanta, Georgia, May 1993 |
| State | Published - 1993 |
| Event | Proceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA Duration: May 13 1990 → May 18 1990 |
Other
| Other | Proceedings of the 1990 IEEE International Conference on Robotics and Automation |
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| City | Cincinnati, OH, USA |
| Period | 5/13/90 → 5/18/90 |
ASJC Scopus subject areas
- General Engineering