This paper discusses how many fingers are necessary and sufficient;for capturing a;pyramidal-like object placed on a table under the gravitational field. Allaying that the contact friction is small enough to ensure th...
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ISBN:
(纸本)0780344650
This paper discusses how many fingers are necessary and sufficient;for capturing a;pyramidal-like object placed on a table under the gravitational field. Allaying that the contact friction is small enough to ensure that any direct grasp may fail in achieving an equilibrium grasp,, we prove that a planar two-fingered hand are necessary and sufficient for achieving the task for an idealized 2D, triangle object placed vertically on a table, We also consider 3D pyramidal-like objects, and prove that a spatial two-fingered hand are necessary and sufficient for achieving the task.
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