A curvature-based bound on the number of frictionless fingers required to immobilize three-dimensional objects

IEEE Transactions on Robotics and Automation

Volumn 17, Issue 5, 2001, Pages 679-697

  Rimon, Elon ^a,b  

^a California Institute of Technology   (United States)

^b TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

Author keywords

Curvature; Fixturing; Grasping; Mobility bounds

Indexed keywords

EIGENVALUES AND EIGENFUNCTIONS; FRICTION; KINEMATICS; MATRIX ALGEBRA; MOTION PLANNING; SET THEORY; THREE DIMENSIONAL; VECTORS;

CURVATURE; FIXTURING; FRICTIONLESS FINGERS; GRASPING; MOBILITY BOUNDS;

GRIPPERS;

EID: 0035485302     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.964668     Document Type: Article

References (30)

1. A mathematical approach to automatic configuration of machining fixtures: Analysis and synthesis
2. Immobilizing a polytope
3. Mech. Form Closure
4. Computation and analysis of compliance in grasping and fixturing
5. A quality measure for compliant grasps
6. The geometry of grasping
7. Easily computable optimum grasps in 2-D and 3-D
8. Grasp metrics: Optimality and complexity
9. On the existence and synthesis of multifinger positive grips
10. Walking and running of the quadruped wall-climbing robot
11. Constructing stable grasps
12. An extension of screw theory
13. On planning immobilizing fixtures for 3D polyhedral parts
14. On computing four-finger equilibrium and force-closure grasps of polyhedral objects
15. The Kinematics of Machinery
16. A new bound on the number of frictionless fingers required to immobilize three-dimensional objects
17. New bounds on the number of frictionless fingers required to immobilize planar objects
18. Mobility of bodies in contact-I: A second order mobility index for multiple-finger grasps
19. Mobility of bodies in contact-II: How forces are generated by curvature effects
20. Design of a spider robot for motion with quasistatic force constraints
21. Kinematic and force analysis of articulated hands
22. An algorithm for the medial axis transform of 3D polyhedral solids
23. Design of a spider robot for motion with quasistatic force constraints
24. Uber gebiete von schraubengeschwindigkeiten eines starren korpers bieverschiedener zahl von stuzflachen
25. Computing form closure configurations
26. Robug III-the design of an eight legged teleoperated walking and climbing robot for disordered hazardous environments
27. On the stability and instantaneous velocity of grasped frictionless objects
28. Fixturing faceted parts with seven modular struts