Kinematic Graspability of a 2D Multifingered Hand
نویسندگان
چکیده
In this paper, we describe a solution to the problem of determining the kinematic feasibility of a dextrous hand to grasp a given object at a desired connguration in the two dimensional space. We refer to this problem as kinematic graspability. The kinematic conngu-ration of a grasp is deened in terms of a set of contact pairs between the topological features of the hand and the object. We derive the suucient conditions in order for the hand to make the desired contact and avoid collision. These conditions are then formulated as a constrained non-linear global optimization problem, whose solution yields a deenitive answer to kinematic gras-pability for a grasp connguration. Numerical examples are provided to illustrate the method.
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