Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

December 1990


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-90-83.


This paper analyzes two-handed grasping of a rigid object in the two-dimensional (2-D) space. The two hands under consideration have two fingers, and each finger is equipped with a tactile sensor. The hands are assumed to be respectively installed on two robotic manipulators capable of motion and force control.

In a separate paper [1], a necessary condition for proper grasping configurations of two two-fingered hands are obtained. A proper grasping configuration is a configuration of the two hands at the initial contact with the object guaranteeing that a stable grasp can be achieved. A detailed study of the properties of contacts with the two fingers of a hand, and a method to determine if a proper grasping configuration has been reached by the two hands, are provided.



Date Posted: 15 August 2007