Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects: Contact Space Formulation
Elon D. Rimon,Florian T. Pokorny,Weiwei Wan,Elon D. Rimon,Florian T. Pokorny,Weiwei Wan
This paper considers basket grasps, where a two-finger robot hand forms a basket that can safely lift and carry rigid objects in a 2-D gravitational environment. The two-finger basket grasps form special points in a high-dimensional configuration space of the object and two-finger robot hand. This paper establishes that all two-finger basket grasps can be found in a low-dimensional contact space t...
