Statics of continuum planar grasping

[2504.03067] Statics of continuum planar grasping Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:2504.03067 (cs) [Submitted on 3 Apr 2025] Title: Statics of continuum planar grasping Authors: Udit Halder View a PDF of the paper titled Statics of continuum planar grasping, by Udit Halder View PDF HTML (experimental) Abstract: Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage distributed compliance and whole-body contact to achieve robust and dexterous grasping. This paper presents a control-theoretic framework for analyzing the statics of continuous contact with a planar object. The governing equations of static equilibrium of the object are formulated as a linear control system, where the distributed contact forces act as control inputs. To optimize the grasping performance, a constrained optimal control problem is posed to minimize contact forces required to achieve a static grasp, with solutions derived using the Pontryagin Maximum Principle. Furthermore, two optimization problems are introduced: (i) for assigning a measure to the quality of a particular grasp, which generalizes a (rigid-body) grasp quality metric in the continuum case, and (ii) for finding the best grasping configuration that maximizes the continuum grasp quality. Several numerical results are also provided to elucidate our methods. Subjects: Robotics (cs.RO) ; Systems and Control (eess.SY) Cite as: arXiv:2504.03067 [cs.RO] (or arXiv:2504.03067v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2504.03067 Focus to learn more arXiv-issued DOI via DataCite Related DOI : https://doi.org/10.1109/CDC57313.2025.11312366 Focus to learn more DOI(s) linking to related resources Submission history From: Udit Halder [ view email ] [v1] Thu, 3 Apr 2025 22:42:36 UTC (345 KB) Full-text links: Access Paper: View a PDF of the paper titled Statics of continuum planar grasping, by Udit Halder View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO < prev | next > new | recent | 2025-04 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer ( What is the Explorer? ) Connected Papers Toggle Connected Papers ( What is Connected Papers? ) Litmaps Toggle Litmaps ( What is Litmaps? ) scite.ai Toggle scite Smart Citations ( What are Smart Citations? ) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv ( What is alphaXiv? ) Links to Code Toggle CatalyzeX Code Finder for Papers ( What is CatalyzeX? ) DagsHub Toggle DagsHub ( What is DagsHub? ) GotitPub Toggle Gotit.pub ( What is GotitPub? ) Huggingface Toggle Hugging Face ( What is Huggingface? ) ScienceCast Toggle ScienceCast ( What is ScienceCast? ) Demos Demos Replicate Toggle Replicate ( What is Replicate? ) Spaces Toggle Hugging Face Spaces ( What is Spaces? ) Spaces Toggle TXYZ.AI ( What is TXYZ.AI? ) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower ( What are Influence Flowers? ) Core recommender toggle CORE Recommender ( What is CORE? ) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs . Which authors of this paper are endorsers? | Disable MathJax ( What is MathJax? ) We gratefully acknowledge support from our major funders , member institutions , , and all contributors. About · Help · Contact · Subscribe · Copyright · Privacy · Accessibility · Operational Status (opens in new tab) Major funding support from

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