重力場における複数対象物の平衡把握とそのロバスト性 Equilibrium Grasp and its Robustness for Multiple Objects under Gravitational Field
This paper discusses the robustness of the equilibrium grasp of multiple objects. We first provide a general mathematical formulation on the kinematic relationship for multiple objects grasped by a multi-fingered robot hand assuming that the rolling condition is satisfied at each contact point. We define the rolling based redundancy under gravitational field, in which the grasped objects have degrees of freedom of motion through rolling even if the finger posture is fixed. When the finger-object system is rotated, the equilibrium before rotation is lost if the system has the rolling based redundancy. However, if the system can find another equilibrium state close to the original one, we say that there exists the neighborhood equilibrium. We evaluate the robustness of the equilibrium state by utilizing the rotating angle, where the system loses the neighborhood equilibrium. We show several numerical examples to verify our idea.
日本ロボット学会誌 17(1), pp.133-139, 1999-01-15
The Robotics Society of Japan