Abstract
This paper addresses the problem of computing force-closure grasps with four non-coplanar contact points. The proposed approach in this work to determine force-closure grasp, is valid for sets of four faces with coplanar or non-coplanar normal, and is based on geometric operations. First, the sets of four object faces that due to their relative orientations and positions allow concurrent, flat-pencil and regulus types of grasp are determined; second, these sets are evaluated with a quality function and the best one is selected for the grasp; Finally, on the selected faces, according to the possible types of non-planar grasp, four contact points assuring a force-closure grasp are determined.
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