E. Rimon and J. Burdick, "On force and form closure for multiple finger grasps," presented at the Proc. IEEE Int. Conf. on Robotics and Automation, 1996.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....summarize research in robot grasping. Grasps can be classified as force or form closure. Form closure occurs when any neighboring configuration of the part results in collision with an obstacle. Force closure occurs if any external wrench can be resisted by applying suitable forces at the contacts [11,21]. Gripper contacts have been modeled as frictional points, frictionless points or soft contacts [24] 19] and [26] prove that 4 and 7 frictionless point contacts are necessary to establish form closure in the plane and in 3D respectively. 12] and [10] proved that 4 and 7 point contacts suffice. ....

....edges, they show how to compute critical contact placements in constant time. The time complexity of their algorithm is bounded by the number of such sets, 4 ) in the worst case. A jaw in contact with a vertex is considered as two jaws in contact with the neighboring edges. Rimon and Burdick [21] and [22] were the first to identify and introduce the notion of second order force closure. First order immobility occurs if every direction of motion in C space has a negative component along some outward normal to a C obstacle in contact with the part. For second order mobility, every ....

Rimon E. and Burdick J., On force and form closure for multiple finger grasps, Proceedings of IEEE International Conference on Robotics and Automation, 1996, pp. 1795-1800 vol.2.

....robot. A key concept in grasping is force closure. A grasp is force closure if it can resist forces (and torques) applied to the object along (about) any direction [6] The smallest number of fingers needed to achieve closure of an arbitrary object has been studied for various models of contacts [35, 38, 46]. Algorithms for computing force closure grasps of given objects are described in [11, 16, 40, 44] However, a climbing robot need not achieve force closure, since it must only resist gravity. Moreover, when a climbing robot s limb moves to reach a new hold, the robot itself must remain in ....

R. Rimon and J. Burdick. On force and form closure for multiple finger grasps. In IEEE Int. Conf. on Robotics and Automation, 1996.

....mobile robots have been extensively discussed in the literature. Most approaches use the notions of force and form closure to perform the manipulation of relative large objects [1 4] Force closure is a condition that implies that the grasp can resist any external force applied to the object [5]. Form closure can be viewed as the condition guaranteeing force closure, without requiring the contacts to be frictional. In general, robots are the agents that induce contacts with the object, and are the only source of grasp forces. But, when external forces acting on the object, such as ....

Rimon E., Burdick J. (1996) On force and form closure for multiple finger grasps. In: IEEE Int'l. Conf. on Robotics and Automation, 1795--1800.

....mobile robots have been extensively discussed in the literature. Most approaches use the notions of force and form closure to perform the manipulation of relatively large objects [1] 2] 3] Force closure is a condition that implies that the grasp can resist any external force applied to the object [4]. Form closure can be viewed as the condition guaranteeing force closure, without requiring the contacts to be frictional. In general, robots are the agents that induce contacts with the object, and are the only source of grasp forces. But, when external forces acting on the object, such as ....

Rimon E., Burdick J. (1996) On force and form closure for multiple finger grasps. In: IEEE Intl. Conf. on Robotics and Automation, 1795--1800.

....available for their solutions. We perform simulation studies to show the simplicity and efficiency of the LMI formulation to the three problems. 1 Introduction Grasping and manipulation by multifingered robotic hands have been active areas of research in robotics over the last two decades, see [8, 9, 12, 13, 14, 17, 18, 19, 20, 21] and references therein for further details. Three important problems in the study of grasping and multifingered manipulation are: a) Given a grasp which is characterized by a set of contact This work was supported by NSF under grant number IIS9619850, the Texas Higher Education Coordinating ....

E. Rimon and J. Burdick. On force and form closure for multiple finger grasps. In ICRA, 1996.

....fixture planning for various types of objects and sets of fixturing elements. 1 Introduction Many manufacturing operations, such as machining, assembly, and inspection, require constraints on the motions of parts or subassemblies of parts [4, 8] The concept of form closure is over a century old [25] and refers to constraining, despite the application of an external wrench (force and moment) all motions of a rigid object (including infinitesimal motions) by a set of contacts on the object; any motion of an object in form closure has to violate the rigidity of the contacts. Therefore, the ....

....has not always been consistent. Here we discuss a few different notions on immobility of objects and show how our definition of form closure, which we will use in the rest of this paper, fits in. Several authors have discussed form closure and immobility [3, 11, 24, 26, 27] Initially Reuleaux [25] used the term force closure to describe immobilization (equilibrium) of an object that requires the application of an externally applied wrench. He defined form closure on a body as an equilibrium that is maintained despite the application of any possible externally applied wrench (force and ....

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E. Rimon and J. Burdick. On force and form closure for multiple finger grasps. In IEEE Conference on Robotics and Automation, 1996.

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E. Rimon and J. W. Burdick. On force and form closure for multiple finger grasps. In Proc. Int. Conf. on Robotics and Automation, pages 1795--1800, May 1996. Minneapolis, MN.

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E. Rimon and J. Burdick, "On force and form closure for multiple finger grasps," presented at the Proc. IEEE Int. Conf. on Robotics and Automation, 1996.

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Rimon E. and Burdick J., On force and form closure for multiple finger grasps, Proceedings of IEEE International Conference on Robotics and Automation, 1996, pp. 1795-1800 vol.2.

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Rimon E. and Burdick J., On force and form closure for multiple finger grasps, Proceedings of IEEE International Conference on Robotics and Automation, 1996, pp. 1795-1800 vol.2.

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