On Two-Finger Grasping of Deformable Planar Objects
Grasping a deformable object instantaneously requires maintaining equilibrium of its pre- and post-deformed shapes using the same set of forces. This paper studies the type of grasps generated by squeezing a planar object with two fingers. It is shown that the success of such a grasp is independent of the applied forces in the case of small deformation. Numerical algorithms are introduced to compute sets of squeeze grasps with small and large deformations modeled using the finite element method (FEM) based on the linear and nonlinear elasticity theories, respectively.
Yan-Bin Jia Feng Guo Jiang Tian
Department of Computer Science Iowa State University Ames,IA 50011,USA Technicolor Visual Technology Co.,Ltd. Building B,40 North-Middle 3rd Ring Road Haidian District,Bei
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5261-5266
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）