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Constructing Force- Closure Grasps
Abstract
This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object. The synthesis of force-closure grasps finds in dependent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. A force- closure grasp implies equilibrium grasps exist. In the reverse direction, we show that most nonmarginal equilibrium grasps are force-closure grasps.
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Cited by
Data-Driven Grasp Synthesis—A Survey
Bohg, J., Morales, A., Asfour, T., & Kragic, D. (2014) · IEEE Transactions on Robotics · doi:10.1109/tro.2013.2289018 · Cited by 929
GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping
Fang, H.-S., Wang, C., Gou, M., & Lu, C. (2020) · 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr42600.2020.01146 · Cited by 683
An overview of dexterous manipulation
Okamura, A. M., Smaby, N., & Cutkosky, M. R. (2002) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844067 · Cited by 466
ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
Brahmbhatt, S., Handa, A., Hays, J., & Fox, D. (2019) · 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967960 · Cited by 125
Model-free and learning-free grasping by Local Contact Moment matching
Adjigble, M., Marturi, N., Ortenzi, V., Rajasekaran, V., Corke, P., & Stolkin, R. (2018) · 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594226 · Cited by 44
Metadata
- Authors
- Nguyen, V.-D.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1988-06
- Volume
- 7
- Issue
- 3
- Pages
- 3-16
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2140173255
- Cited by
- 902
- References
- 0
- FWCI
- 11.91
- Type
- journal article
- Language
- en
- Open access
- closed
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- Nguyen, V.-D. (1988). Constructing Force- Closure Grasps. The International Journal of Robotics Research. https://doi.org/10.1177/027836498800700301
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
