Grasp Invariance

Abstract

This paper introduces a principle to guide the design of finger form: invariance of contact geometry over some continuum of varying shape and/or pose of the grasped object in the plane. Specific applications of this principle include scale-invariant and pose-invariant grasps. Under specific conditions, the principle gives rise to spiral shaped fingers, including logarithmic spirals and straight lines as special cases. The paper presents a general technique to solve for finger form, given a continuum of shape or pose variation and a property to be held invariant. We apply the technique to derive scale-invariant and pose-invariant grasps for disks, and we also explore the principle's application to many common devices from jar wrenches to rock-climbing cams.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2010
Accession Number
ADA532769

Entities

People

  • Alberto Rodriguez
  • Matthew T. Mason

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Cams
  • Cartesian Coordinates
  • Climbing
  • Construction
  • Differential Equations
  • Electronic Mail
  • Equations
  • Friction
  • Geometry
  • Integrals
  • Invariance
  • Military Research
  • Rotation
  • Shape
  • Translations
  • Transport Ships

Readers

  • Calculus or Mathematical Analysis
  • Electrical Engineering
  • Rehabilitation and Prosthetic Care for Military Service Members and Veterans with Limb Loss or Disability.