A new algorithm for three-finger force-closure grasp of polygonal objects

—We prove a new necessary and sufficient condition for 2D three-finger equilibrium grasps and implement a geometrical algorithm for computing force-closure grasps of polygonal objects in this article. The algorithm is quite simple and only needs some algebraic calculations. An easily computable measure of how far a grasp is from losing forceclosure is provided as well. Finally, we implement the algorithm and demonstrate its usefulness by an example.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Jia-Wei Li, Ming-He Jin, Hong Liu
• Keywords: Geometrical Algorithm, ICRA 2003, Robotics, Sufficient Condition, Three-finger Equilibrium Grasps