Contact Model

David Montana

  • The Kinematics of Contact and Grasp, International Journal of Robotics Research, 1988.
  • The Kinematics of Contact with Compliance, Proceedings of the IEEE Conference on Robotics and Automation, 1989.
  • The Condition for Contact Grasp Stability, Proceedings of the IEEE Conference on Robotics and Automation, 1991.
  • Contact Stability for Two-Fingered Grasps, IEEE Transactions on Robotics and Automation, 1992.

Grasp stability

  • Spatial grasp stability: Tendency of the grasped object to return to equalibrium location in space;
  • Contact grasp stability: Tendency of the points of contact to return to an equalibrium location on the object’s surface.