On Computing Robust N-Finger Force-Closure Grasps of 3D Objects

Abstract

The paper deals with computing frictional forceclosure grasps of 3D objects problem. The key idea of the presented work is the demonstration that wrenches associated to any three non-aligned contact points of 3D objects form a basis of their corresponding wrench space. This result permits the formulation of a new sufficient force-closure test. Our approach works with general objects, modelled with a set of points, and with any number n of contacts (n >= 4). A quality criterion is also introduced. A corresponding algorithm for computing robust force-closure grasps has been developed. Its efficiency is confirmed by comparing it to the classical convexhull method