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Springer Handbook of RoboticsGrasping

Springer Handbook of Robotics: Grasping [This chapter introduces fundamental models of grasp analysis. The overall model is a coupling of models that define contact behavior with widely used models of rigid-body kinematics and dynamics. The contact model essentially boils down to the selection of components of contact force and moment that are transmitted through each contact. Mathematical properties of the complete model naturally give rise to five primary grasp types whose physical interpretations provide insight for grasp and manipulation planning.] http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png

Springer Handbook of RoboticsGrasping

Part of the Springer Handbooks Book Series
Editors: Siciliano, Bruno; Khatib, Oussama

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References (1)

  • A. Bicchi (2000)

    652

    IEEE Trans. Robotics Autom., 16

Publisher
Springer International Publishing
Copyright
© Springer International Publishing Switzerland 2016
ISBN
978-3-319-32550-7
Pages
955–988
DOI
10.1007/978-3-319-32552-1_38
Publisher site
See Chapter on Publisher Site

Abstract

[This chapter introduces fundamental models of grasp analysis. The overall model is a coupling of models that define contact behavior with widely used models of rigid-body kinematics and dynamics. The contact model essentially boils down to the selection of components of contact force and moment that are transmitted through each contact. Mathematical properties of the complete model naturally give rise to five primary grasp types whose physical interpretations provide insight for grasp and manipulation planning.]

Published: Jan 1, 2016

Keywords: Prehension; Force Closure; Form-closure Grasps; Hand Jacobian; Twisted Objects

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