Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems.
- Resource Type
- Article
- Authors
- Aicardi, Michele; Casalino, Giuseppe; Cannata, Giorgio
- Source
- International Journal of Robotics Research. Aug96, Vol. 15 Issue 4, p351. 14p.
- Subject
- *ROBOT hands
*ROBOTICS
- Language
- ISSN
- 0278-3649
Addresses the problem of grasping rigid objects using robot hands. Role of internal forces in robust grasp planning problems; Representation of the space of the contact forces that allow a grasp object to perform an assigned motion.