On Computing Multi-Finger Force-Closure Grasps of 2d Objects

Abstract

In this paper, we develop a new algorithm for computing force-closure grasps of two-dimensional (2D) objects using multifingred hand. Assuming hard-finger point contact with Coulomb friction, we present a new condition for multi-finger to form force-closure grasps. Based on the central axis of contact wrenches, an easily computable algorithm for force-closure grasps has been implemented and its efficiency has been demonstrated by examples.