Abstract
Modeling of 2-dimensional grasping and object manipulation under rolling contacts by a pair of multi-joint robot fingers with an arbitrary fingertip contour curve is discussed. Stabilization of grasping by using a control signal based on the fingers-thumb opposability is discussed from the analysis of a Morse-Bott function introduced as an artificial potential. An exentsion of modeling of 3-D grasping under rolling contact constraints is discussed under the circumstance of arbitrary shapes of the fingertips and object.
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