Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect
作者： Akira Nakashima , Yoshikazu Hayakawa
DOI: 10.3182/20110828-6-IT-1002.03234
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摘要: Abstract In this paper, we deal with the stability analysis of an object grasped by fingers linear stiffness in case where gravity effect is considered. The grasp defined based on potential energy grasp. problem formulated as finding a condition parameters and contact points for position center (COG) to exist such that stable. A necessary sufficient derived under assumptions respect points. Furthermore, condition, COG characterized It especially indicated can be stable any COG. Numerical examples are shown prove effectiveness analysis.
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