On the Dynamic Stability of Grasping-Reference-Cited by-同舟云学术

On the Dynamic Stability of Grasping

Published:1999-09 Issue:9 Volume:18 Page:951-958
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Xiong Cai-Hua,Li You-Fu,Ding Han¹,Xiong You-Lun²

Affiliation:

1. Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong

2. School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, China

Abstract

Stability is one of the important properties that a robot hand grasp must possess to be able to perform tasks similar to those performed by human hands. This paper discusses the dynamic stability of a grasped object. To analyze the stability of grasps, we build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, we determine the conditions associated with the dynamic stability and discuss the effects of various factors on the grasp stability. A quantitative measure for evaluating grasps is then presented. Finally, the effectiveness of the proposed theory is verified via examples.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/02783649922066682

Reference11 articles.

1. Computing and controlling compliance of a robotic hand

2. On the stability of grasped objects

3. Liapunov Stability of Force-Controlled Grasps with a Multi-Fingered Hand

4. Contact stability for two-fingered grasps

5. Nakamura, Y., Nagai, K., and Yoshikawa, T. 1989. Dynamics and stability in coordination of multiple robotic mechanisms . Intl. J. Robot. Res. 8(2): 44–61 .

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