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On the Existence and Synthesis of Multifinger Positive Grips

Wednesday, January 1st, 2020, 16:10

Checkpoint 480

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On the Existence and Synthesis of Multifinger Positive Grips

Micha Sharir, TAU

Abstract:

The talk will review an old paper with the same title, by B, Mishra, J.T. Schwartz and M. Sharir (Algorithmica 1987). The paper gives bounds on the number of friction-free fingers that are needed to grasp any object (satisfying some natural properties) in two or three dimensions. To grasp the object, each finger can exert some force in the direction of the inner normal at the point of contact. One either wishes to keep the body at equilibrium, or to resist (balance) a given external force and torque, or to be able to balance any force and torque, with a suitable set of forces that the fingers exert, without moving the contact points. The paper also presents efficient algorithms for constructing suitable contact points for a polyhedral object.
 
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