...Yu Zheng; Chee-Meng Chew This paper presents an algorithm for optimal grasp planning and fixture synthesis. The object surface is depicted by a number of discrete points, which are used as the candidate contact points. This algorithm consists of two procedures. The first procedure selects a minimal...

...Yu Zheng; Wen-Han Qian Force-closure is a fundamental topic in grasping research. Relevant problems include force-closure test, quality evaluation, and grasp planning. Implementing the well-known force-closure condition that the origin of the wrench space lies in the interior of the convex hull...