Limiting and minimizing the contact forces in multifingered grasping

Mechanism and Machine Theory

Volumn 41, Issue 10, 2006, Pages 1243-1257

  Zheng, Yu ^a   Qian, Wen Han ^a  

^a SHANGHAI JIAO TONG UNIVERSITY   (China)

Author keywords

Dynamic force distribution (DFD); Force closure; Minimax criterion; Multifingered grasping; Optimal grasp planning (OGP)

Indexed keywords

ALGORITHMS; CALCULATIONS; DYNAMIC MECHANICAL ANALYSIS; HAND TOOLS; OPTIMAL CONTROL SYSTEMS;

DYNAMIC FORCE DISTRIBUTION (DFD); FORCE CLOSURE; MINIMAX CRITERION; MULTIFINGERED GRASPING; OPTIMAL GRASP PLANNING (OGP);

FORCE CONTROL;

EID: 33746253684     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2005.11.001     Document Type: Article

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