New Techniques for Computing Four-Finger Force-Closure Grasps of Polyhedral Objects.

A. Sudsang and J. Ponce.

Proc. of the International Conf. on Robotics and Automation, 1995.


It was shown in [12] that four-,nger forceclosure grasps fall into three categories: concurrent, pencil, and regulus grasps. We propose new techniques for computing these three types of grasps. We have implemented them and present examples.