The Synthesis of Stable Grasps in the Plane.

Abstract

This paper addresses the problem of synthesizing stable grasps on arbitrary planar polygons. Each finger is a virtual spring whose stiffness and compression can be programmed. The contacts between the finger tips and the object are point contacts without friction. It is proven that all force-closure grasps can be made stable, and it costs O(n) time to synthesize a set of n virtual springs such that a given force-closure grasp is stable. We can also choose the compliance center and the stiffness matrix of the grasp, and so choose the compliant behavior of the grasped object about its equilibrium. The planning and execution of grasps and assembly operations become easier and less sensitive to errors. Keywords: Robots; Algorithms. (Author).

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1985
Accession Number
ADA165903

Entities

People

  • Van-duc Nguyen

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Assembly
  • Boundaries
  • Compression
  • Construction
  • Control Systems
  • Displacement
  • Equations
  • Errors
  • Friction
  • Joints (Anatomy)
  • Lepidoptera
  • Military Research
  • Orientation (Direction)
  • Rotation
  • Stiffness

Readers

  • Computer Vision.
  • Control Systems Engineering.
  • Tribology (the study of the boundary interaction between sliding surfaces, lubrication, wear and friction).

Technology Areas

  • AI & ML
  • Autonomy