Theory 031/Robotics & Autonomy
Grasp Is a Friction Ratio
The claim
Grasp success is set by the ratio of available friction to object curvature rather than by grip force alone, so a curved smooth object can slip despite high force.
01The mechanism
Contact area falls with curvature, so the friction cone narrows; the ratio of friction to curvature sets whether a stable grasp exists at any force.
02Predictions
- P1Success should collapse at a curvature threshold.
- P2Increasing force should not rescue low-friction curved objects.
03Refutation
Success tracking grip force would remove the ratio.