Abstract
The problem of form-closure for three-fingered grasps of polygonal objects under various combinations of contact models at the contact points is investigated. It is shown that equilibrium can be maintained even when some of the contacts between the fingers and the grasped object are frictionless and tangential contact forces do not exist. Feasible regions for location of the fingers, and for safe manipulation of the object under various combination of contact models are identified. >
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