Robotics Research Technical Report (Classic Reprint): Finding Effective Force-Targets for Two-Dimensional Multifinger Frictional Grips: Finding ... Frictional Grips (Classic Reprint) - Softcover

Inhaltsangabe

Planar Multifinger Grasping helps you compute stable grip forces in 2D .

This work presents practical methods to determine force targets for finger contacts on a planar object, with an emphasis on friction and stability. It guides you from modeling grips to deriving targets that keep forces within friction bounds while achieving a desired manipulation.

The content is written for researchers and engineers who design multi-finger grasping systems. It covers how to model fingers as contact points, how friction cones constrain forces, and how to compute grip configurations and corresponding force targets. The approach aims for methods that can handle multiple fingers and varying task constraints, with attention to computational efficiency.

• Learn how to set up grip points and tangent directions to analyze frictional grasps.
• See how to express the zero net force and torque as convex combinations for stable targets.
• Explore strategies for choosing finger forces that remain robust to friction and orientation uncertainties.
• Understand how to extend the model to selecting good gripping positions based on object shape.

Ideal for readers of robotics and grasping theory seeking actionable, algorithmic guidance for planar, multi‑finger manipulation.

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