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A qualitative test for N-finger force-closure grasps on planar objects with applications to manipulation and finger gaits
ICRA (2), pp.814-820vol.2, (1993)
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A force-closure test function for an n-finger grasp on a planar object with friction is presented. All n-finger grasps can be represented by an n-dimensional contact space. The critical conditions of the test functions are used to define force-closure curves which are the boundaries of force-closure sets in the contact configuration space...更多
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