Constructing stable grasps in 3D

This paper presents fast and simple algorithms for directly constructing stable grasps in 3D. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. The paper develops a simple geometric relation between the stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp also depends on whether the points of contact stick, or slide without friction on the edges of the object.