A control-theoretic framework models continuum planar grasping statics as a linear control system, solves force-minimizing grasps via Pontryagin's principle, and generalizes grasp quality metrics to the continuum setting.
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Statics of continuum planar grasping
A control-theoretic framework models continuum planar grasping statics as a linear control system, solves force-minimizing grasps via Pontryagin's principle, and generalizes grasp quality metrics to the continuum setting.