Grasp Invariance

Alberto Rodriguez and Matthew T. Mason
Workshop Paper, The Ninth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2010), December, 2010

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This paper introduces a principle to guide the design of finger form: invariance of contact geometry over some continuum of varying shape and/or pose of the grasped object in the plane. Specific applications of this principle include scale-invariant and pose-invariant grasps. Under specific conditions, the principle gives rise to spiral shaped fingers, including logarithmic spirals and straight lines as special cases. The paper presents a general technique to solve for finger form, given a continuum of shape or pose variation and a property to be held invariant. We apply the technique to derive scale-invariant and pose-invariant grasps for disks, and we also explore the principle’s application to many common devices from jar wrenches to rock-climbing cams.

author = {Alberto Rodriguez and Matthew T. Mason},
title = {Grasp Invariance},
booktitle = {The Ninth International Workshop on the Algorithmic Foundations of Robotics (WAFR 2010)},
year = {2010},
month = {December},
keywords = {Grasping, Hand design, finger design, finger form},
} 2019-06-27T16:47:36-04:00