Fine Manipulation with Multifinger Hands
نویسنده
چکیده
We show the existence of two and three finger grasps in the presence of arbitrarily small friction for two and three dimensional smooth objects using a simple new technique. No convexity of the objects is assumed. We also prove the existence of finger gaits for rotating a planar object using three and four fingers. Additional results for smooth convex objects are presented which describe two different finger gaits using four fingers.
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