Grasp stability analysis for elastic fingertips by using potential energy

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

doi:10.1109/SII.2014.7028081

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 proceeding › Conference 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	https://doi.org/10.1109/SII.2014.7028081
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 2014 → 12 15 2014

その他

その他	7th IEEE/SICE International Symposium on System Integration, SII 2014
Country	日本
City	Tokyo
Period	12/13/14 → 12/15/14

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Networks and Communications
Information Systems

文献へのアクセス

10.1109/SII.2014.7028081

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引用スタイル

Grasp stability analysis for elastic fingertips by using potential energy. / Tsuji, Tokuo; Baba, Kosei; Tahara, Kenji; Harada, Kensuke; Morooka, Kenichi; Kurazume, Ryo.

2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 453-458 7028081.

研究成果: Chapter in Book/Report/Conference proceeding › Conference contribution

Tsuji, T, Baba, K, Tahara, K, Harada, K, Morooka, K & Kurazume, R 2014, Grasp stability analysis for elastic fingertips by using potential energy. in 2014 IEEE/SICE International Symposium on System Integration, SII 2014., 7028081, Institute of Electrical and Electronics Engineers Inc., pp. 453-458, 7th IEEE/SICE International Symposium on System Integration, SII 2014, Tokyo, 日本, 12/13/14. https://doi.org/10.1109/SII.2014.7028081

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