Transition Stability of Enveloping Grasps.

• Kaneko Makoto

  Hiroshima University

• Higashimori Mitsuru

  Hiroshima University

• Tsuji Toshio

  Hiroshima University

Bibliographic Information

Other Title

• 包み込み把握の遷移安定性
• ツツミコミ ハアク ノ センイ アンテイセイ

Abstract

While there have been a number of works on enveloping grasp, most of them have discussed the robustness of grasp, analysis of contact forces, and localization of contact points, under the assumption that robot fingers already grasps the object. This paper relaxes the assumption and treats an issue on planning torque commands for lifting up the object on the table till it makes contact with the palm. We first define a concept of transition stability during lifting motion and introduce the force-flow-diagram which is a convenient tool for evaluating the global moving direction of object. We show a couple of simulation results for both 2D and 3D objects.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 16 (5), 712-720, 1998

  The Robotics Society of Japan

Keywords

• Enveloping Grasp
• Constant Torque Control
• Grasp Stability
• Grasp Transition
• Lifting Motion

Details

• CRID: 1390001204727278080
• NII Article ID: 10002864184
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.16.712
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 4522832
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4522832
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed