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A dynamic simulation method for enveloping power grasps is presented. The method very effectively models all major grasp conditions and phenomena to achieve a realistic simulation of power grasp. A compliant contact model is developed to solve the static indeterminacy problem in a multiple-contact power grasp. A dynamic simulation algorithm is developed based on a discrete-time, state variable approach. The algorithm models friction, rolling, slipping, and wedging effects, as well as the changing topological structure of power grasp dynamics. The simulation algorithm is implemented for the DIGITS Grasping System. Results of quasi-static and dynamic stability experiments are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Mirza et al. (2002) studied this question.
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