A complementarity problem formulation of the frictional grasping problem A complementarity problem formulation of the frictional grasping problem Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2015-10-112000enThe problem of secure grasping in the presence of unilateral contact and friction effects is formulated as a nonlinear complementarity problem (NCP). This approach, in comparison with other methods which involve piecewise linear approximations, is very natural and applicable. The proposed formulation covers isotropic and orthotropic friction conditions. Numerical examples which illustrate the developed method are included.http://creativecommons.org/licenses/by/4.0/Computer methods in applied mechanics and engineering8-10190941–952 Stavroulakis Georgios Σταυρουλακης Γεωργιος A.M Al-Fahed Nuseirat Elsevier Applied mechanics Engineering, Mechanical mechanics applied applied mechanics engineering mechanical