Grasp invariance

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 conditio...

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Veröffentlicht in:	The International journal of robotics research 2012-02, Vol.31 (2), p.236-248
Hauptverfasser:	Rodriguez, Alberto, Mason, Matthew T
Format:	Artikel
Sprache:	eng
Schlagworte:	Contact Continuums Control systems Fingers Geometry Invariance Invariants Manipulation Robotics Spirals Straight lines Wrenches
Online-Zugang:	Volltext
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