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Carnegie Mellon Robotics Institute

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Abstract

The quality of a grasp can often be measured as the magnitude within which any external wrench is resistible by ``unit grasp force''. In this paper, we present a numerical algorithm to compute the optimal grasp on a simple polygon, given contact forces of unit total magnitude. Forces are compared with torques over the radius of gyration of the polygon. We also address a grasp optimality criterion for resisting an adversary finger located possibly anywhere on the polygon boundary. The disparity between these two grasp optimality criteria are demonstrated by simulation with results advocating that grasps should be measured task-dependently. The paper assumes non-frictional contacts.

Notes

Text Reference

Yan-Bin Jia, "On computing optimal planar grasps," Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, August, 1995, pp. 427-434.

BibTeX Reference

@inproceedings{Jia_1995_2628,
   author = "Yan-Bin Jia",
   title = "On computing optimal planar grasps",
   booktitle = "Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "427-434",
   month = "August",
   year = "1995",
}

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