A curvature-based bound on the number of frictionless fingers required to immobilize three-dimensional objects.

A curvature-based bound on the number of frictionless fingers required to immobilize three-dimensional objects.

This paper presents a curvature-based bound on the number of frictionless fingers or fixtures required to immobilize 3D objects. A recently developed second-order mobility theory has shown that in addition to first-order geometrical effects, second-order or curvature effects play an important role i...

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Bibliographic Details
Published in:IEEE Transactions on robotics and automation 17, 5 (2001).
Main Author: Rimon, E.
Format: Article
Language:English
Subjects:
3D polyhedral object.
Convex fingers.
Curvature-based bound.
Eigenvalues.
Frictionless fingers.
Grasping.
Kinematics.
Mobility bounds.
Preimmobilizing grasp.