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Authors: Belkacem Bounab 1 ; Daniel Sidobre 2 and Abdelouhab Zaatri 3

Affiliations: 1 Mechanical Laboratory of Structures, EMP, Algiers; LAAS-CNRS, France ; 2 LAAS-CNRS; Paul Sabatier University, France ; 3 Advanced Technologies Laboratory, Mentouri University, Algeria

Keyword(s): Multi-Fingered grasps, Force-Closure, Central Axis, Grasp Wrenches.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Cybernetics ; Health Engineering and Technology Applications ; Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Modeling, Simulation and Architectures ; NeuroSensing and Diagnosis ; Neurotechnology, Electronics and Informatics ; Robotics and Automation

Abstract: In this paper, we develop a new algorithm for computing force-closure grasps of two-dimensional (2D) objects using multifingred hand. Assuming hard-finger point contact with Coulomb friction, we present a new condition for multi-finger to form force-closure grasps. Based on the central axis of contact wrenches, an easily computable algorithm for force-closure grasps has been implemented and its efficiency has been demonstrated by examples.

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Paper citation in several formats:
Bounab, B.; Sidobre, D. and Zaatri, A. (2007). ON COMPUTING MULTI-FINGER FORCE-CLOSURE GRASPS OF 2D OBJECTS. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 253-258. DOI: 10.5220/0001624102530258

@conference{icinco07,
author={Belkacem Bounab. and Daniel Sidobre. and Abdelouhab Zaatri.},
title={ON COMPUTING MULTI-FINGER FORCE-CLOSURE GRASPS OF 2D OBJECTS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={253-258},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001624102530258},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - ON COMPUTING MULTI-FINGER FORCE-CLOSURE GRASPS OF 2D OBJECTS
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Bounab, B.
AU - Sidobre, D.
AU - Zaatri, A.
PY - 2007
SP - 253
EP - 258
DO - 10.5220/0001624102530258
PB - SciTePress

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