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Stable prehension with three fingers

Authors:

B S Baker,

S Fortune,

E GrosseAuthors Info & Claims

STOC '85: Proceedings of the seventeenth annual ACM symposium on Theory of computing

Pages 114 - 120

https://doi.org/10.1145/22145.22158

Published: 01 December 1985 Publication History

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Abstract

We study grasps by a robot hand in the absence of friction. In two dimensions, a hand with three spring-loaded fingers and five degrees of freedom can achieve an equilibrium grasp on any object described by a polygon. Furthermore, the grasp is stable, that is, at a local minimum of the potential energy function defined by the springs of the fingers. In three dimensions, the hand can grasp any cylinder. In contrast, if the degrees of freedom of the hand are restricted to correspond to a hand built by Hanafusa and Asada, stable grips on a polygon cannot in general be achieved.

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Cited By

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Kim YShin JWon JLee WSeo T(2025)LBH gripper: Linkage-belt based hybrid adaptive gripper design for dish collecting robotsRobotics and Autonomous Systems10.1016/j.robot.2024.104886185(104886)Online publication date: Mar-2025
https://doi.org/10.1016/j.robot.2024.104886
Ma RBircher WDollar A(2019)Modeling and Evaluation of Robust Whole-Hand Caging ManipulationIEEE Transactions on Robotics10.1109/TRO.2019.289099035:3(549-563)Online publication date: Jun-2019
https://doi.org/10.1109/TRO.2019.2890990
Das ADeb S(2016)Recognition of Force Closed Point Grasp for 2D ObjectCAD/CAM, Robotics and Factories of the Future10.1007/978-81-322-2740-3_34(357-365)Online publication date: 2016
https://doi.org/10.1007/978-81-322-2740-3_34
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Published In

STOC '85: Proceedings of the seventeenth annual ACM symposium on Theory of computing

December 1985

484 pages

ISBN:0897911512

DOI:10.1145/22145

Chairman:
Robert Sedgewick

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 December 1985

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STOC85

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SIGACT

STOC85: Annual ACM Conference on Theory of Computing

May 6 - 8, 1985

Rhode Island, Providence, USA

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Overall Acceptance Rate 1,469 of 4,586 submissions, 32%

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Cited By

View all

Kim YShin JWon JLee WSeo T(2025)LBH gripper: Linkage-belt based hybrid adaptive gripper design for dish collecting robotsRobotics and Autonomous Systems10.1016/j.robot.2024.104886185(104886)Online publication date: Mar-2025
https://doi.org/10.1016/j.robot.2024.104886
Ma RBircher WDollar A(2019)Modeling and Evaluation of Robust Whole-Hand Caging ManipulationIEEE Transactions on Robotics10.1109/TRO.2019.289099035:3(549-563)Online publication date: Jun-2019
https://doi.org/10.1109/TRO.2019.2890990
Das ADeb S(2016)Recognition of Force Closed Point Grasp for 2D ObjectCAD/CAM, Robotics and Factories of the Future10.1007/978-81-322-2740-3_34(357-365)Online publication date: 2016
https://doi.org/10.1007/978-81-322-2740-3_34
Barkat BZeghloul SGazeau J(2009)Optimization of grasping forces in handling of brittle objectsRobotics and Autonomous Systems10.1016/j.robot.2008.05.00457:4(460-468)Online publication date: 1-Apr-2009
https://dl.acm.org/doi/10.1016/j.robot.2008.05.004
Ahmad SFeddema J(2007)Static grip selection for robot‐based automated assembly systemsJournal of Robotic Systems10.1002/rob.46200406024:6(687-717)Online publication date: 13-Mar-2007
https://doi.org/10.1002/rob.4620040602
Shiaw-Chian Wu Maw-kae Hor (2002)On the properties of 3D grasping forces: theoryProceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527)10.1109/WCICA.2002.1020146(3309-3313)Online publication date: 2002
https://doi.org/10.1109/WCICA.2002.1020146
Li YYu YTsujio S(2002)An analytical grasp planning on given object with multifingered handProceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)10.1109/ROBOT.2002.1014296(3749-3754)Online publication date: 2002
https://doi.org/10.1109/ROBOT.2002.1014296
Shiaw-Chian Wu Maw-kae Hor (2001)Efficient and robust algorithm for 3D grasp constructionProceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515)10.1109/CIRA.2001.1013200(218-223)Online publication date: 2001
https://doi.org/10.1109/CIRA.2001.1013200
Barkat BBesonnet GLallemand J(1994)Hyperstatic grasping optimization with finger deformability and sliding constraintsProceedings of the 1994 IEEE International Conference on Robotics and Automation10.1109/ROBOT.1994.351180(1923-1930)Online publication date: 1994
https://doi.org/10.1109/ROBOT.1994.351180
Ferrari CCanny J(1992)Planning optimal graspsProceedings 1992 IEEE International Conference on Robotics and Automation10.1109/ROBOT.1992.219918(2290-2295)Online publication date: 1992
https://doi.org/10.1109/ROBOT.1992.219918
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Appropriate lengths between phalanges of multijointed fingers for stable grasping

The underactuation and motion-coupling in robotic fingers and two new 1-DOF motion-coupling anthropomorphic fingers

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