Krishna, KRama and Vipin, JS and Sen, Dibakar (2019) Two-Point Grasp Response. In: MACHINES, MECHANISM AND ROBOTICS . pp. 795-805.
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This paper for the first time in literature studies the quasi-static behavior of a smooth object when it is being grasped with two rigid point fingers without friction and in the absence of external forces. A simple model of slip for the point finger over the object is proposed and the evolution of the traces of the point of contact of the fingers are computationally determined. The kinematic response of the object as viewed from one finger is assessed with the evolution of the slip. The convergence of the two slip-loci to two distinct points or a single point imply a successful or failed grasp endeavor, respectively. It is argued that the slip-loci are geodesics on the smooth object which gets temporally parametrized, as slip evolves.
| Item Type: | Journal Article |
|---|---|
| Publication: | MACHINES, MECHANISM AND ROBOTICS |
| Series.: | Lecture Notes in Mechanical Engineering |
| Publisher: | SPRINGER-VERLAG BERLIN |
| Additional Information: | copyright for this article belongs to SPRINGER-VERLAG BERLIN |
| Keywords: | Grasping; Slip; Manipulation; Contact |
| Department/Centre: | Division of Mechanical Sciences > Mechanical Engineering |
| Date Deposited: | 30 May 2019 06:45 |
| Last Modified: | 30 May 2019 06:45 |
| URI: | http://eprints.iisc.ac.in/id/eprint/62449 |
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