On the stability of an object in multi-finger grasping

Mikhail Mikhailovich Svinin, K. Ueda, M. Kaneko

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

This paper deals with the stability of a rigid body under multiple contact forces. First, the problem considered at the force planning level, and the stability of a force distribution is formulated. Analytical conditions for the stability of a force distribution, 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 in terms of the force-induced stiffness tensor and the control-spring-induced stiffness tensor calculated at the stiffness center. Finally, comments on the contradiction between the Lyapunov stability and the contact stability of the objects are drawn.

Original languageEnglish
Pages412-417
Number of pages6
Publication statusPublished - Dec 1 1999
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: Oct 17 1999Oct 21 1999

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period10/17/9910/21/99

All Science Journal Classification (ASJC) codes

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

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    Svinin, M. M., Ueda, K., & Kaneko, M. (1999). On the stability of an object in multi-finger grasping. 412-417. Paper presented at 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients', Kyongju, South Korea, .