Grasping Fragile Objects Using A Stress-Minimization Metric
Zherong Pan,Xifeng Gao,Dinesh Manocha,Zherong Pan,Xifeng Gao,Dinesh Manocha
We present a new method to generate optimal grasps for brittle and fragile objects using a novel stress- minimization (SM) metric. Our approach is designed for objects that are composed of homogeneous isotopic materials. Our SM metric measures the maximal resistible external wrenches that would not result in fractures in the target objects. In this paper, we propose methods to compute our new metr...
