Multi-fingered grasp synthesis based on the object dynamic properties ?
We propose a new approach to quickly synthesize an optimal n n -fingered grasp. Minimization of gravitational and inertial effects are ensured. Both 2D and 3D complex of any shape object can be considered. The proposed approach is useful for the manipulation of heavy objects. Several case studies and comparisons with other methods are presented.
grasp synthesis grasping multi-fingered hands