{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,16]],"date-time":"2025-02-16T21:10:10Z","timestamp":1739740210788,"version":"3.37.1"},"reference-count":35,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2010,1,18]],"date-time":"2010-01-18T00:00:00Z","timestamp":1263772800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2010,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, we propose an approach for computing suboptimal grasps of polyhedral objects. Assuming<jats:italic>n<\/jats:italic>hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench, we develop a new necessary and sufficient condition for<jats:italic>n<\/jats:italic>-finger grasps to achieve force-closure property. Accordingly, we reformulate the proposed force-closure test as a new linear programming problem, which we solve using an interior point method. Furthermore, we present an approach for finding appropriate stable grasps for a robotic hand on arbitrary objects. We use the simulated annealing technique for synthesizing suboptimal grasps of 3D objects. Through numerical simulations on arbitrary shaped objects, we show that the proposed approach is able to compute good grasps for multifingered hands within a reasonable computational time.<\/jats:p>","DOI":"10.1017\/s0263574709990889","type":"journal-article","created":{"date-parts":[[2010,1,18]],"date-time":"2010-01-18T08:51:46Z","timestamp":1263804706000},"page":"1021-1032","source":"Crossref","is-referenced-by-count":2,"title":["Stochastic optimization-based approach for multifingered grasps synthesis"],"prefix":"10.1017","volume":"28","author":[{"given":"Belkacem","family":"Bounab","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Abdenour","family":"Labed","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniel","family":"Sidobre","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2010,1,18]]},"reference":[{"key":"S0263574709990889_ref19","doi-asserted-by":"publisher","DOI":"10.1177\/027836499901800506"},{"key":"S0263574709990889_ref34","doi-asserted-by":"publisher","DOI":"10.1007\/b97597"},{"key":"S0263574709990889_ref32","doi-asserted-by":"publisher","DOI":"10.1145\/235815.235821"},{"key":"S0263574709990889_ref24","unstructured":"24. 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M. , Suarez R. and Ros L. , \u201cFinding All Valid Hand Configurations for a Given Precision Grasp,\u201d Proceedings of IEEE ICRA (2008) pp. 1634\u20131640."},{"key":"S0263574709990889_ref10","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1109\/TRA.2002.806774","article-title":"On computing three-finger force-closure grasps of 2D and 3D objects","volume":"19","author":"Li","year":"2003","journal-title":"IEEE Trans. Robot. Automat."},{"key":"S0263574709990889_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.829500"},{"key":"S0263574709990889_ref7","first-page":"33","article-title":"Kinematic and force analysis of articulated hands","volume":"105","author":"Salisbury","year":"1982","journal-title":"Trans. ASME, J. Mech. Transm. Autom. Des."},{"key":"S0263574709990889_ref35","unstructured":"35. Ulrich N. , Paul R. and Bajcsy R. , \u201cA Medium-Complexity Compliant End Effector,\u201d Proceedings of IEEE ICRA (April 1988), pp. 434\u2013439."},{"key":"S0263574709990889_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.842351"},{"key":"S0263574709990889_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840373"},{"key":"S0263574709990889_ref1","doi-asserted-by":"crossref","unstructured":"1. Bicchi A. and Kumar V. , \u201cRobotic Grasping and Contact: A Review,\u201d Proceedings of IEEE ICRA, (April 2000) pp. 348\u2013352.","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"S0263574709990889_ref18","unstructured":"18. Mirtich B. and Canny J. , \u201cEasily Computable Optimum Grasps in 2-D and 3-D,\u201d Proceedings of IEEE ICRA (1994), pp. 739\u2013747."},{"key":"S0263574709990889_ref12","unstructured":"12. Liu Y. H. , Ding D. and Wang S. G. , \u201cConstructing 3D Frictional Form-Closure Grasps of Polyhedral Objects,\u201d Proceedings of IEEE ICRA (Oct. 1999), pp. 1904\u20131909."},{"key":"S0263574709990889_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/BF02187843"},{"key":"S0263574709990889_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/70.163781"},{"key":"S0263574709990889_ref33","doi-asserted-by":"crossref","unstructured":"33. Bounab B. , Sidobre D. and Zaatri A. , \u201cCentral Axis Approach for Computing n-Finger Force-Closure Grasps,\u201d Proceedings of IEEE ICRA (May 2008), pp. 1169\u20131174.","DOI":"10.1109\/ROBOT.2008.4543362"},{"key":"S0263574709990889_ref2","doi-asserted-by":"crossref","unstructured":"2. Borst Ch. , Fischer M. and Hirzinger G. , \u201cGrasp Planning: How to Choose a Suitable Task Wrench Space,\u201d Proceedings of IEEE ICRA, (May 2004) pp. 319\u2013325.","DOI":"10.1109\/ROBOT.2004.1307170"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574709990889","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,16]],"date-time":"2025-02-16T20:35:02Z","timestamp":1739738102000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574709990889\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,1,18]]},"references-count":35,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2010,12]]}},"alternative-id":["S0263574709990889"],"URL":"https:\/\/doi.org\/10.1017\/s0263574709990889","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2010,1,18]]}}}