Paper Info
Title
Grasp stability analysis of multiple planar objects
Abstract
This paper analyzes static grasp stability of multiple planar objects. To accomplish tasks efficiently, multiple objects are grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects is quantitatively evaluated. Each finger is replaced with a 2D spring model, and the grasp stability is evaluated from the viewpoint of potential energy stored in the grasp. From this analysis, we have the following contributions: Grasp stiffness matrices are derived for multiple planar objects with any friction property. The effect of grasp parameters (contact position, direction of contact normal, curvature at contact point, contact force, and contact friction) is clarified. The grasp stability is evaluated from eigenvalues and eigenvectors of the matrices. Effectiveness of our proposed method is demonstrated through numerical examples.
Year
DOI
Venue
2009
10.1109/ROBIO.2009.5420734
Robotics and Biomimetics
Keywords
DocType
ISBN
grasp stability analysis,static grasp stability,stable grasp,grasp stability,contact position,contact friction,contact force,multiple planar object,contact point,grasp parameter,multiple object,eigenvalues and eigenvectors,stability analysis,robots,numerical stability,stability,potential energy,friction,force
Conference
978-1-4244-4775-6
Citations 
PageRank 
References 
2
0.41
11
Authors
5
Name
Order
Citations
PageRank
Takayoshi Yamada17617.01
Shuichi Yamanaka240.82
Manabu Yamada320.41
Yasuyuki Funahashi44211.27
Hidehiko Yamamoto53216.80