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- W1726672316 abstract "Firm and stable 3-D grips have been achieved for articulated multifinger hands, easing object handling tasks under uncertainties. In this paper, the authors propose a new concept of two-fingered parallel gripper, which they name SCROLLIC (acronym for synchronously closing with rolling constraints). It provides multiple contacts and enables objects of a general shape to be held. Its design and functioning are exposed in detail, as well as the model of the workspace where firm grasps are achievable. For this workspace, a force-closure grasp is always possible when a form-closure is not realizable. A quality function to evaluate the grasp is modeled and a basic application for the gripper is shown. Although acting basically as a planar parallel-jaw gripper, the new gripper offers great stability and firmness in grasping." @default.
- W1726672316 created "2016-06-24" @default.
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- W1726672316 date "2002-11-19" @default.
- W1726672316 modified "2023-09-25" @default.
- W1726672316 title "3-D firm grasps with the SCROLLIC gripper" @default.
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- W1726672316 doi "https://doi.org/10.1109/robot.1995.525513" @default.
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