Grasp stability analysis for elastic fingertips by using potential energy

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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

We propose a grasp stability index which takes into account the elastic deformation of fingertips. In this index, an evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on a grasped object surface. Elastic potential energy of the fingertips and gravitational potential energy of the object are considered in this index. It is ensured that any fingertip does not slip on a grasped object surface if the external energy added to the object is less than the evaluation value. This index has good features as follows. (i) Contact forces corresponding to the grasping state are taken into account. (ii) It is possible to derive a condition of stable grasp including the kinetic energy of a grasped object. The effectiveness of this index is verified through several numerical examples.

本文言語英語
ホスト出版物のタイトル2014 IEEE/SICE International Symposium on System Integration, SII 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ453-458
ページ数6
ISBN(電子版)9781479969449
DOI
出版ステータス出版済み - 1 30 2014
イベント7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, 日本
継続期間: 12 13 201412 15 2014

その他

その他7th IEEE/SICE International Symposium on System Integration, SII 2014
Country日本
CityTokyo
Period12/13/1412/15/14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

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