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Necessary and sufficient number of fingers for capturing pyramidal-like objects
Description
This paper discusses how many fingers are necessary and sufficient for capturing a pyramidal-like object placed on a table under the gravitational field. Allowing that the contact friction is small enough to ensure that any direct grasp may fail in achieving an equilibrium grasp, we prove that a planar two-fingered hand are necessary and sufficient for achieving the task for an idealized 2D triangle object placed vertically on a table. We also consider 3D pyramidal-like objects, and prove that a spatial two-fingered hand are necessary and sufficient for achieving the task.
Journal
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- Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)
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Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190) 1 134-139, 2002-11-27
IEEE
