IEEE - Institute of Electrical and Electronics Engineers, Inc. - An analysis of contact forces decomposition for multi-fingered grasping

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

Author(s): Chen, Y.-C. ; Walker, I.D.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Yokohama, Japan, Japan
Conference Date: 26 July 1993
Volume: 3
ISBN (Paper): 0-7803-0823-9
DOI: 10.1109/IROS.1993.583839
Regular:

Presents an analysis of the mechanics for multi-fingered grasps of planar objects. The main feature in the approach followed is a novel decomposition of the contact finger forces. At each grasp... View More

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