Abstract
The authors address the constraints that guarantee liftability of irregularly shaped objects. Geometric constraints that guarantee static equilibrium state between the object and the gripper are presented. The grasping constraints are discussed that result from the presence and the absence of external forces. These constraints shed light on many human grasping strategies for lifting various objects of different geometries. Grasping limitations based on the object's surface topology are formulated.
| Original language | English |
|---|---|
| Pages (from-to) | 1441-1446 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 3 |
| State | Published - 1991 |
| Event | Conference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics - Charlottesville, VA, USA Duration: Oct 13 1991 → Oct 16 1991 |