Abstract
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 study of positive linear spaces.
Original language | English (US) |
---|---|
Pages (from-to) | 541-558 |
Number of pages | 18 |
Journal | Algorithmica |
Volume | 2 |
Issue number | 1-4 |
DOIs | |
State | Published - Nov 1987 |
Keywords
- Force/torque
- Grip selection
- Positive grip
ASJC Scopus subject areas
- General Computer Science
- Computer Science Applications
- Applied Mathematics