On Computing Four-Finger Equilibrium and Force-Closure Grasps of Polyhedral Objects.

J. Ponce, S. Sullivan, A. Sudsang, J. Boissonnat and J. Merlet.

Submitted to International Journal of Robotics Research, Feb. 1995.


This paper addresses the problem of computing stable grasps of three-dimensional polyhedral objects. We consider the case of a hand equipped with four hard ,ngers and assume point contact with friction. We prove new necessary and su