Concepedia

Form Closure

Form closure is a static equilibrium condition in rigid-body mechanics, defined as a type of grasp in which the relative motion between a rigid object and a set of rigid contacts is completely constrained, regardless of the magnitude of externally applied forces or torques, ensuring immobility through geometric constraint alone.

66

Publications

4.7K

Citations

144

Authors

59

Institutions

Publications per year

2017–2026

7

Variants

Form-closure

Parents

Publications

66

On the Closure Properties of Robotic Grasping

Antonio Bicchi · The International Journal of Robotics Research · 1995 · 533 citations

, , +15

The Geometry of Grasping

Xanthippi Markenscoff, Luqun Ni, Christos H. Papadimitriou · The International Journal of Robotics Research · 1990 · 384 citations

, , +7

Imaging of spin dynamics in closure domain and vortex structures

J. P. Park, Peter Eames, D. M. Engebretson et al. · Physical review. B, Condensed matter · 2003 · 352 citations · Full text

, , +17

The Columbia grasp database

Corey Goldfeder, Matei Ciocarlie, Hao Dang et al. · 2009 · 312 citations

, , +14

On the stability and instantaneous velocity of grasped frictionless objects

Jeff Trinkle · IEEE Transactions on Robotics and Automation · 1992 · 190 citations

, , +17

1–5 of 66

Authors

144

  1. KG
    Ken Goldberg

    University of California, Berkeley, United States

    9 publications · 315 citations

    9

    h-index

  2. DD
    Dan Ding

    Chinese University of Hong Kong, Hong Kong SAR China

    4 publications · 174 citations

    4

    h-index

  3. JT
    Jeff Trinkle

    Rensselaer Polytechnic Institute, United States

    3 publications · 297 citations

    3

    h-index

  4. XZ
    Xiangyang Zhu

    Shanghai Jiao Tong University, China

    3 publications · 103 citations

    3

    h-index

  5. HD
    Han Ding

    Shanghai Jiao Tong University, China

    3 publications · 91 citations

    3

    h-index

1–5 of 144

Institutions

59

  1. Chinese University of Hong Kong

    Hong Kong, Hong Kong

    7 h-index

    15 publications

    614 citations

  2. University of California, Berkeley

    Berkeley, United States

    7 h-index

    14 publications

    386 citations

  3. Shanghai Jiao Tong University

    Shanghai, China

    4 h-index

    7 publications

    223 citations

  4. Karlsruhe Institute of Technology

    Karlsruhe, Germany

    3 h-index

    11 publications

    670 citations

  5. University of Southern California

    Los Angeles, United States

    3 h-index

    6 publications

    233 citations

  6. Kyoto University

    Kyoto, Japan

    3 h-index

    4 publications

    150 citations

  7. Texas A&M University

    College Station, United States

    3 h-index

    5 publications

    365 citations

  8. Bielefeld University

    Bielefeld, Germany

    2 h-index

    4 publications

    84 citations

1–8 of 59

Venues

  1. The International Journal of Robotics Research

    IJRR · 5 publications · 1.2K citations

    5

    h-index

  2. IEEE Transactions on Robotics and Automation

    4 publications · 419 citations

    4

    h-index

  3. IEEE Transactions on Robotics

    3 publications · 104 citations

    3

    h-index

  4. 3

    h-index

  5. 2

    h-index

1–5