Synthesis of force-closure grasps on 3-D objects based on the Q distance

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 4, 2003, Pages 669-679

  Zhu, Xiangyang ^a   Wang, Jun ^b  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

^b CHINESE UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Differentiability; Force closure; Linear programming; Multifingered grasp; Q distance (Q+ distance, Q distance)

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; END EFFECTORS; LINEAR EQUATIONS; LINEAR PROGRAMMING; MATRIX ALGEBRA; MOTION PLANNING; OPTIMAL CONTROL SYSTEMS; ROBOTIC ARMS; THREE DIMENSIONAL;

DIFFERENTIABILITY; FORCE-CLOSURE GRASPS; MULTIFINGERED GRASP; Q DISTANCE;

ROBOTICS;

EID: 0042883677     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.814499     Document Type: Article

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