Grasp planning for the coordinated manipulation of rigid objects

Abstract

The problem of grasping rigid objects using robot hands is addressed. In particular, a representation of the space of the internal forces is given. Within this framework, an algorithm is proposed for the determination of feasible grasp and manipulation forces. sufficient conditions for the solution of this problem of coordinated manipulation are given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>