{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:18:11Z","timestamp":1737263891085,"version":"3.33.0"},"reference-count":24,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4303,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1995,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>When grasping a part with a parallel\u2010jaw gripper, the part will generally rotate due to kinematic constraints. Predicting the part's final orientation is useful for grasping and for planning sequences of gripper motions to orient parts. For a given part geometry, the grasp function maps initial orientations to final orientations. Previously, we studied polygonal and algebraic parts in the absence of friction. This article considers how Coulomb friction affects the grasp function.<\/jats:p><jats:p>We consider two models of Coulomb friction. For a deterministic model, we show that the grasp function of any polygonal part can be represented with a piecewise linear function that we call a step\u2010ramp function. We then show that any step\u2010ramp function is the grasp function of a curved part operating under zero friction. Both contain ranges of orientations where the part does not rotate when grasped. This yields our primary result, that any part with deterministic friction has equivalent grasp mechanics to a \u201cdual\u201d part under zero friction. We then apply previous results to derive grasp plans that orient parts in the presence of friction. We also give an algorithm for planning under a non\u2010deterministic model of Coulomb friction, and give bounds on the friction coefficient needed to insure the existence of such plans. \u00a9 1995 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620120604","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:06:36Z","timestamp":1183745196000},"page":"365-381","source":"Crossref","is-referenced-by-count":10,"title":["Friction and part curvature in parallel\u2010 jaw grasping"],"prefix":"10.1002","volume":"12","author":[{"given":"Anil S.","family":"Rao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kenneth Y.","family":"Goldberg","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF01891840"},{"key":"e_1_2_1_3_2","unstructured":"A. S.RaoandK. Y.Goldberg \u201cManipulating algebraic parts in the plane \u201dIEEE Trans. Rob. Autom. 1995(Accepted for publication). Available as Utrecht University Tech. Report UU\u2010CS\u201093\u201343. For a compressed postscript copy anonymous ftp to ftp.cs.ruu.nl cd \/pub\/RUU\/CS\/techreps\/CS\u20101993 and get 1993\u201343.ps.gz. Preliminary version appears in Proc. ICRA 1992 under the title \u201cOrienting generalized polygonal parts.\u201d"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/0196-6774(87)90028-9"},{"key":"e_1_2_1_5_2","unstructured":"A. S.RaoandK. Y.Goldberg \u201cComputing grasp functions \u201d Submitted to:Comput. Geometry: Theory and Appl."},{"volume-title":"Proc. IASTED Conf. Rob. Manuf., Oxford","year":"1993","key":"e_1_2_1_5_3"},{"key":"e_1_2_1_6_2","unstructured":"K. Y.Goldberg \u201cA kinematically\u2010yielding gripper \u201dIn Int. Symp. Ind. Autom. 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