On the Liapunov stability of multi-finger grasps

Mikhail Mikhailovich Svinin, Kanji Ueda, Makoto Kaneko

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper deals with the stability of a rigid body under multiple contact forces. First, the problem is considered at the force planning level, and the stability of a force distribution is formulated. For this problem, the stiffness tensor is derived, and its basic properties are analyzed. Necessary and sufficient conditions for stability of a force distribution are established in an analytical form. These conditions, considered under unilateral frictional constraints, are studied on an illustrative example. Next, it is shown that stabilization of an unstable force distribution can be done by a simple control law. The stability conditions for this control law are formulated by transforming the stiffness tensor to the center of stiffness. Finally, conclusions on the contradiction between the Liapunov stability and the contact stability of the objects are drawn.

Original languageEnglish
Pages (from-to)59-70
Number of pages12
JournalRobotica
Volume18
Issue number1
DOIs
Publication statusPublished - Jan 1 2000

Fingerprint

Liapunov Stability
Stiffness
Tensor
Tensors
Contact Force
Rigid Body
Stability Condition
Stabilization
Unstable
Planning
Contact
Necessary Conditions
Sufficient Conditions

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

Cite this

On the Liapunov stability of multi-finger grasps. / Svinin, Mikhail Mikhailovich; Ueda, Kanji; Kaneko, Makoto.

In: Robotica, Vol. 18, No. 1, 01.01.2000, p. 59-70.

Research output: Contribution to journalArticle

Svinin, MM, Ueda, K & Kaneko, M 2000, 'On the Liapunov stability of multi-finger grasps', Robotica, vol. 18, no. 1, pp. 59-70. https://doi.org/10.1017/S0263574799002465
Svinin, Mikhail Mikhailovich ; Ueda, Kanji ; Kaneko, Makoto. / On the Liapunov stability of multi-finger grasps. In: Robotica. 2000 ; Vol. 18, No. 1. pp. 59-70.
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