{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,29]],"date-time":"2025-09-29T08:24:20Z","timestamp":1759134260408},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2011,7,28]],"date-time":"2011-07-28T00:00:00Z","timestamp":1311811200000},"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":[[2012,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a new method to analyze frictionless grasp immobility based on defined surface-to-surface signed distance function. Distance function's differential properties are analyzed and its second-order Taylor expansion with respect to differential motion is deduced. Based on the non-negative condition of the signed distance function, the first- and second-order free motions are defined and the corresponding conditions for immobility of frictionless grasp are derived. As one benefit of the proposed method, the second-order immobility check can be formulated as a nonlinear programming problem. Numerical examples are used to verify the proposed method.<\/jats:p>","DOI":"10.1017\/s0263574711000853","type":"journal-article","created":{"date-parts":[[2011,7,28]],"date-time":"2011-07-28T05:22:17Z","timestamp":1311830537000},"page":"613-625","source":"Crossref","is-referenced-by-count":8,"title":["A novel curvature-based method for analyzing the second-order immobility of frictionless grasp"],"prefix":"10.1017","volume":"30","author":[{"given":"Chen","family":"Luo","sequence":"first","affiliation":[]},{"given":"LiMin","family":"Zhu","sequence":"additional","affiliation":[]},{"given":"Han","family":"Ding","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2011,7,28]]},"reference":[{"key":"S0263574711000853_ref29","doi-asserted-by":"publisher","DOI":"10.1115\/1.1557293"},{"key":"S0263574711000853_ref16","doi-asserted-by":"publisher","DOI":"10.1163\/016918610X552187"},{"key":"S0263574711000853_ref22","doi-asserted-by":"publisher","DOI":"10.1115\/1.1763186"},{"key":"S0263574711000853_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.3254979"},{"key":"S0263574711000853_ref12","first-page":"2815","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Trinkle","year":"1994"},{"key":"S0263574711000853_ref10","first-page":"412","volume-title":"Proceedings of the IEEE Conference on Robotics and Automation","author":"Montana","year":"1991"},{"key":"S0263574711000853_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/70.163781"},{"key":"S0263574711000853_ref24","doi-asserted-by":"publisher","DOI":"10.1243\/09544054JEM1293"},{"key":"S0263574711000853_ref17","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022066978"},{"key":"S0263574711000853_ref23","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"Murray","year":"1994"},{"key":"S0263574711000853_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2009.5420734"},{"key":"S0263574711000853_ref9","first-page":"384","volume-title":"Proceedings of the 7th International Symposium on Industrial Robots","author":"Hanafusa","year":"1977"},{"key":"S0263574711000853_ref20","first-page":"1","article-title":"A unified approach for least-squares surface fitting","volume":"45","author":"Zhu","year":"2004","journal-title":"Sci. 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R. , Mishra B. and Yap C-K. , \u201cQuantitative Steinitz's Theorem with Applications to Multifingered Grasping,\u201d T R 460, Robotics Report, 210, Courant Institute of Mathematical Science, New York University, NY, USA (Sep. 1989)."},{"key":"S0263574711000853_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/70.720347"},{"key":"S0263574711000853_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(95)00002-G"},{"key":"S0263574711000853_ref28","doi-asserted-by":"publisher","DOI":"10.1115\/1.1365397"},{"key":"S0263574711000853_ref15","doi-asserted-by":"publisher","DOI":"10.1142\/S0219878910002117"},{"key":"S0263574711000853_ref19","volume-title":"Proceedings of the IDETC\/ CIE 2008 ASME International Conference","author":"Kragten","year":"2008"},{"key":"S0263574711000853_ref13","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1007\/s12555-009-0211-y","article-title":"Grasp stability analysis based on acceleration convex polytopes for multi-fingered robot hands","volume":"7","author":"Myeong","year":"2009","journal-title":"Int. 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