@inproceedings{7408293e2b0d49128a38feb2d81ee16a,
title = "A new, simple and universal four-finger gripper for 3D objects grasping",
abstract = "In manufacturing, it is common to handle objects with different geometries and weights. For example, there are more than ten types of objects required to assemble together in the automotive product line. The parallel-jaw gripper in wide use is inflexible and inefficient to meet the requirements. In this paper, a new, simple and flexible four-finger gripper, called CBF (Cross Bar Four-Finger) gripper, is designed to grasp various objects. The gripper with 8 degrees of freedom has compact architectures and can be easily built. It can perform both enveloping grasps and fingertip grasps. We present some properties of 3D objects that can be enveloping grasped. A sufficient condition is given for selecting the stable fingertip grasping points. Two strategies are proposed to select the contact points in two grasp modes respectively. Some examples are presented to validate our approach.",
keywords = "Enveloping grasps, Fingertip grasps, Four-finger gripper, Grasp planning",
author = "Jianhua Su and Chuankai Liu and Hong Qiao",
year = "2008",
doi = "10.1007/978-3-540-88518-4\_71",
language = "英语",
isbn = "3540885161",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
number = "PART 2",
pages = "659--668",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
edition = "PART 2",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}