Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Click here to sign up for SAGE Journal Email Alerts today!

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Web of Science (11)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Mantriota, G.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Communication on Optimal Grip Points for Contact Stability

Giacomo Mantriota

Dipartimento di Ingegneria e Fisica dell’Ambiente, Universitá della Basilicata, I85100 Potenza, Italymantriota{at}poliba.it

The identification of contact points is a priority in planning grasps. This paper proposes a criterion for the determination of optimal grip points to secure contact stability. The criterion is generally valid, that is, it applies to grasps with any number of contact points on objects having a generic shape (polygonal or curved), and does not require that the external force acting on the object be known. A grasp-quality index, fmin, obtained by minimizing the friction coefficient needed to ensure contact stability in the presence of a generic disturbing external action, has been introduced. The criterion leads to the formulation of an optimization problem with nonlinear constraints that is easy to implement. Finally, some examples are provided which compare the results reported in the literature with the results obtained by applying the criterion proposed in this paper.

The International Journal of Robotics Research, Vol. 18, No. 5, 502-513 (1999)
DOI: 10.1177/027836499901800506
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
N. S. Pollard
Closure and Quality Equivalence for Efficient Synthesis of Grasps from Examples
The International Journal of Robotics Research, June 1, 2004; 23(6): 595 - 613.
[Abstract] [PDF]