Book contents
- Frontmatter
- Contents
- 1 Introduction and Overview
- Part I Basic Geometry of the Grasping Process
- 2 Rigid-Body Configuration Space
- 3 Configuration Space Tangent and Cotangent Vectors
- 4 Rigid-Body Equilibrium Grasps
- 5 A Catalog of Equilibrium Grasps
- Part II Frictionless Rigid-Body Grasps and Stances
- Part III Frictional Rigid-Body Grasps and Stances
- Part IV Grasping Mechanisms
- Appendix A Introduction to Non-Smooth Analysis
- Appendix B Summary of Stratified Morse Theory
- Index
5 - A Catalog of Equilibrium Grasps
from Part I - Basic Geometry of the Grasping Process
Published online by Cambridge University Press: 03 October 2019
- Frontmatter
- Contents
- 1 Introduction and Overview
- Part I Basic Geometry of the Grasping Process
- 2 Rigid-Body Configuration Space
- 3 Configuration Space Tangent and Cotangent Vectors
- 4 Rigid-Body Equilibrium Grasps
- 5 A Catalog of Equilibrium Grasps
- Part II Frictionless Rigid-Body Grasps and Stances
- Part III Frictional Rigid-Body Grasps and Stances
- Part IV Grasping Mechanisms
- Appendix A Introduction to Non-Smooth Analysis
- Appendix B Summary of Stratified Morse Theory
- Index
Summary
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- Type
- Chapter
- Information
- The Mechanics of Robot Grasping , pp. 81 - 132Publisher: Cambridge University PressPrint publication year: 2019