Planning for three-finger tip-prehension grasps

Z. Ji, B. Roth

Research output: Contribution to journalArticlepeer-review


This paper discusses the planning of grasp configurations for three-fingered tip-prehension grasps. Geometric reasoning is incorporated into the selection process so that the task requirements, together with constraints on compatibility between the task's and the object's geometry, can be used to find feasible grasp configurations. A classification of objects is made, whereby they are divided into groups based on their geometric characteristics. Task requirements are then used for developing selection rules for each group of objects. In addition, methods for reaching a grasp in the existence of uncertainty are suggested.

Original languageEnglish (US)
Pages (from-to)235-249
Number of pages15
JournalInternational Journal of Machine Tool Design and Research
Issue number3
StatePublished - 1988
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • General Engineering


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