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Grasping

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Springer Handbook of Robotics

Abstract

This chapter introduces fundamental models of grasp analysis. The overall model is a coupling of models that define contact behavior with widely used models of rigid-body kinematics and dynamics. The contact model essentially boils down to the selection of components of contact force and moment that are transmitted through each contact. Mathematical properties of the complete model naturally give rise to five primary grasp types whose physical interpretations provide insight for grasp and manipulation planning.

After introducing the basic model and types of grasps, this chapter focuses on the most important grasp characteristic: complete restraint. A grasp with complete restraint prevents loss of contact and thus is very secure. Two primary restraint properties are form closure and force closure. A form closure grasp guarantees maintenance of contact as long as the links of the hand and the object are well approximated as rigid and as long as the joint actuators are sufficiently strong. As will be seen, the primary difference between form closure and force closure grasps is the latterʼs reliance on contact friction. This translates into

requiring fewer contacts to achieve force closure than form closure.

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Abbreviations

DH:

Denavit–Hartenberg

DOF:

degree of freedom

HF:

hard-finger

LP:

linear program

PwoF:

point-contact-without-friction

SF:

soft-finger

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Author information

Authors and Affiliations

  1. Dipartimento di Ingegneria dellʼInformazione, Università degli Studi di Siena, Via Roma 56, 53100, Siena, Italy

    Domenico Prattichizzo Prof

  2. Department of Computer Science, Rensselaer Polytechnic Institute, 12180-3590, Troy, NY, USA

    Jeffrey C. Trinkle Prof

Authors
  1. Domenico Prattichizzo Prof
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  2. Jeffrey C. Trinkle Prof
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Corresponding authors

Correspondence to Domenico Prattichizzo Prof or Jeffrey C. Trinkle Prof .

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Editors and Affiliations

  1. PRISMA Lab, Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Napoli Federico II, 80125, Napoli, Italy, Via Claudio 21

    Bruno Siciliano Prof.

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, 94305-9010, Stanford, CA, USA

    Oussama Khatib Prof.

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© 2008 Springer-Verlag

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Prattichizzo, D., Trinkle, J.C. (2008). Grasping. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_29

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  • DOI: https://doi.org/10.1007/978-3-540-30301-5_29

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23957-4

  • Online ISBN: 978-3-540-30301-5

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