Grasp stability evaluation based on energy tolerance in potential field

Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Kenichi Morooka, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We propose an evaluation method of grasp stability which takes into account the elastic deformation of fingertips from the viewpoint of energy. An evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on its contact surface. To formulate the evaluation value, the elastic potential energy of fingertips and the gravitational potential energy of a grasped object are considered. It is ensured that fingertips do not slip on grasped object surfaces if the external energy applied to the object is less than the evaluation value. Since our evaluation value explicitly considers the deformation values of fingertips, grasp stability is evaluated by taking into consideration the contact forces generated by the deformation. The effectiveness of our method is verified through numerical examples.

Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2311-2316
Number of pages6
Volume2015-December
ISBN (Electronic)9781479999941
DOIs
Publication statusPublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

Fingerprint

Potential energy
Elastic deformation

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Tsuji, T., Baba, K., Tahara, K., Harada, K., Morooka, K., & Kurazume, R. (2015). Grasp stability evaluation based on energy tolerance in potential field. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 2311-2316). [7353688] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353688

Grasp stability evaluation based on energy tolerance in potential field. / Tsuji, Tokuo; Baba, Kosei; Tahara, Kenji; Harada, Kensuke; Morooka, Kenichi; Kurazume, Ryo.

IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 2311-2316 7353688.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tsuji, T, Baba, K, Tahara, K, Harada, K, Morooka, K & Kurazume, R 2015, Grasp stability evaluation based on energy tolerance in potential field. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2015-December, 7353688, Institute of Electrical and Electronics Engineers Inc., pp. 2311-2316, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 9/28/15. https://doi.org/10.1109/IROS.2015.7353688
Tsuji T, Baba K, Tahara K, Harada K, Morooka K, Kurazume R. Grasp stability evaluation based on energy tolerance in potential field. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2311-2316. 7353688 https://doi.org/10.1109/IROS.2015.7353688
Tsuji, Tokuo ; Baba, Kosei ; Tahara, Kenji ; Harada, Kensuke ; Morooka, Kenichi ; Kurazume, Ryo. / Grasp stability evaluation based on energy tolerance in potential field. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2311-2316
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