Robot Grasp

  • Jadran Lenarčič
  • Tadej Bajd
  • Michael M. Stanišić
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 60)


In this chapter it is our goal to determine the constraints required for a particular grasp to completely immobilize an object. Each contact between a finger and an object reduces the number of degrees of freedom of the object and at the same time allows external forces to be applied to the object. In this chapter we are not interested in single contacts between bodies; rather we are focused on the effects of multiple contacts on a grasped object. A mathematical description of a grasp with multiple fingers is introduced.


Virtual Object Finger Force Finger Joint Friction Cone Contact Matrix 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Jadran Lenarčič
    • 1
  • Tadej Bajd
    • 2
  • Michael M. Stanišić
    • 3
  1. 1.J. Stefan InstituteLjubljana-Vic-RudnikSlovenia
  2. 2.Faculty of Electrical EngineeringUniversity of LjubljanaLjubljana-Vic-RudnikSlovenia
  3. 3.Aerospace and Mechanical EngineeringNotre Dame UniversityNotre DameUSA

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