NDLI: A Sufficient Condition For Computing N-Finger Force-Closure Grasps of 3D Objects

Content Provider	IEEE Xplore Digital Library
Author	El-Khoury, S. Sahbani, A.
Copyright Year	2008
Description	Author affiliation: LISIF, Univ. Pierre et Marie Curie - Paris, Paris (El-Khoury, S.) \|\| ISIR, Univ. Pierre et Marie Curie - Paris, Paris (Sahbani, A.)
Abstract	We address the problem of computing n-finger force-closure grasps of 3D objects. As 3D force-closure grasps involve 6D wrench space, we use Plucker coordinates and Grassmann algebra, to demonstrate that wrenches associated to any three non-aligned contact points of 3D objects form a basis of the 6D wrench space. Thus, given non-aligned locations of n - 1 fingers, a 6D basis can be extracted form their wrenches. This permits the formulation of a fast and simple sufficient force-closure test. The problem is transformed to searching for a set of locations of the nth finger which wrenches can be uniquely expressed as a strictly negative linear combination of the 6D basis. We have implemented the algorithm and confirmed its efficiency by comparing it to the classical convex-hull method [21].
Starting Page	791
Ending Page	796
File Size	3688843
Page Count	6
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4681451
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sufficient conditions Testing Friction Fingers Filters Algebra Stability Humanoid robots Robot kinematics Grassmann algebra Force-closure grasps
Content Type	Text
Resource Type	Article

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