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- W2122968311 abstract "This paper deals with optimization of grasping with multi-fingered robot hands, under general constraints such as finger deformability, sliding conditions and object positioning tolerances. A general formalism describing hyperstatic grasping is presented. An optimization criterion based on the minimization of securing forces and torques is introduced. Results concerning numerical simulation of grasping with a three-fingered gripper are presented. >" @default.
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- W2122968311 date "2002-12-17" @default.
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- W2122968311 title "Hyperstatic grasping optimization with finger deformability and sliding constraints" @default.
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- W2122968311 doi "https://doi.org/10.1109/robot.1994.351180" @default.
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