Abstract
This paper presents a fast method for evaluating grasp stability of a multi-fingered hand by testing force closure. The force closure is determined by using contact forces which satisfy friction cones constraint and manipulating force ellipsoid. Conventional methods approximate the friction cone by a polyhedral cone and need much time to determine the force closure. In our method, ellipsoids for the approximation of the friction cone are used and determine the force closure by solving simple equations. The effectiveness of the proposed method is verified by 3D simulations.
