{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T05:22:20Z","timestamp":1767676940009},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5061,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,5]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>When an object is held by a multi-fingered hand, the values of the contact forces can be multivalued. An objective function, when used in conjunction with the frictional and geometric constraints of the grasp, can however, give a unique set of finger force values. The selection of the objective function in determining the finger forces is dependent on the type of grasp required, the material properties of the object, and the limitations of the r\u00f6bot fingers. In this paper several optimization functions are studied and their merits highlighted. The paper introduces a graphical representation of the finger force values and the objective functions that enable one to select and compare various grasping configurations. The impending motion of the object at different torque and finger force values are determined by observing the normalized coefficient of friction plots.<\/jats:p>","DOI":"10.1017\/s0263574700017811","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:12:54Z","timestamp":1236676374000},"page":"287-295","source":"Crossref","is-referenced-by-count":10,"title":["A new representation for a robot grasping quality measure"],"prefix":"10.1017","volume":"13","author":[{"given":"Venugopal K.","family":"Varma","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Uri","family":"Tasch","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700017811_ref018","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400401"},{"key":"S0263574700017811_ref017","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267342"},{"key":"S0263574700017811_ref016","unstructured":"16. 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Robotics Research 61\u201374 (1990).","DOI":"10.1177\/027836499000900102"},{"key":"S0263574700017811_ref002","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800204"},{"key":"S0263574700017811_ref001","unstructured":"1. Li Z. and Sastry S. , \u201cTask oriented optimal grasping by multifingered robot hands\u201d IEEE International Conference on Robotics and Automation Nice, France (1992) pp. 389\u2013394."},{"key":"S0263574700017811_ref005","doi-asserted-by":"crossref","unstructured":"5. Mishra B. , Schwartz J. T. and Sharir M. , \u201cOn the existence and synthesis of multifinger positive grips\u201d Algorithmica 541\u2013558 (1987).","DOI":"10.1007\/BF01840373"},{"key":"S0263574700017811_ref014","volume-title":"Maximum Entropy Models in Science and Enginering","author":"Kapur","year":"1989"},{"key":"S0263574700017811_ref007","doi-asserted-by":"crossref","unstructured":"7. Selig J. M. and Rooney J. , \u201cReuleaux pairs and surfaces that cannot be gripped\u201d Int. J. Robotics Research 79\u201387 (1989).","DOI":"10.1177\/027836498900800508"},{"key":"S0263574700017811_ref012","unstructured":"12. Kerr J. and Roth B. , \u201cSpecial grasping configurations with dexterous hands\u201d IEEE International Conference on Robotics and Automation San Francisco (1986) pp. 1361\u20131367."},{"key":"S0263574700017811_ref011","doi-asserted-by":"publisher","DOI":"10.1115\/1.2916924"},{"key":"S0263574700017811_ref003","unstructured":"3. Ferrari C. and Canny J. , \u201cPlanning optimal grasps\u201d IEEE International Conference on Robotics and Automation Nice, France (1992) pp. 2290\u20132295."},{"key":"S0263574700017811_ref004","unstructured":"4. Lakshminaryayana K. , \u201cMechanics of form closure\u201d ASME, Design Division Technical Conference, Minneapolis, Minnesota (1978) pp. 2\u20138."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700017811","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,13]],"date-time":"2019-05-13T18:22:31Z","timestamp":1557771751000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700017811\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,5]]},"references-count":18,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1995,5]]}},"alternative-id":["S0263574700017811"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700017811","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1995,5]]}}}