Paper Abstract

 Title:  On Force and Form Closure For Multiple Finger Grasps
 Authors:  E. Rimon and J. Burdick
 In:   Proc. 1996 IEEE Int. Conf. on Robotics and Automation

ABSTRACT

This paper considers the relationship between force and form closure. Based on a recently developed mobility theory, we give precise definitions for first and second order form closure for frictionless grasps. We also introduce the new concept of second order force closure. We show for the case of frictionless contacts, a grasp is first order force closure if and only if it is first order form closure. We further show that a grasp is second order force closure if and only if it is also second order form closure. We also introduce the concept of active and passive frictional force closure.