A three-dimensional criterion for the determination of optimal grip points

Multifingered grasping has aroused remarkable interest because it makes possible the manipulation of objects of different shapes and sizes. However, manipulating and picking up objects in unstructured environments requires accurate contact-point selection. Generally, such processes are subject to external forces which are difficult to predict and may change during task execution. In this paper, an optimization criterion is proposed which is meant to select the optimal grip points in a three-dimensional problem for any number of contact points. This method may be applied to three-dimensional objects of any shape (curved or polygonal) and does not require that the external forces acting on the object be known. A grasp quality index is presented which has been obtained by minimizing the grasping forces required to balance a generalized external disturbance. The optimization criterion has led to the formulation of a single optimization problem with non-linear constraints. Finally, the paper presents the results obtained in searches for the optimal grip points on some two- and three-dimensional object