Grasp stability analysis of two objects in two dimensions

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 760-765

  Yamada, Takayoshi ^a   Ooba, Toshinori ^a   Yamamoto, Tomoya ^a   Mimura, Nobuharu ^b   Funahashi, Yasuyuki ^c  

^a NAGOYA INSTITUTE OF TECHNOLOGY   (Japan)

^b NIIGATA UNIVERSITY   (Japan)

^c CHUKYO UNIVERSITY   (Japan)

Author keywords

Grasp stability; Multifingered robot hand; Multiple objects; Rolling contact; Sliding contact

Indexed keywords

CONSTRAINT THEORY; MOTION ESTIMATION; PARAMETER ESTIMATION; PRODUCT DESIGN;

GRASP STABILITY; MULTIFINGERED ROBOT HANDS; MULTIPLE OBJECTS; ROLLING CONTACT; SLIDING CONTACT;

ROBOTIC ARMS;

EID: 33846141191     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570209     Document Type: Conference Paper

References (14)

1. K. Harada, M. Kaneko, and Tsuji, "Rolling Based Manipulation for Multiple Objects," Proc. of Int. Conf. on Robotics and Automation, pp. 3888-3895, 2000.
2. K. Harada and M. Kaneko, "Neighborhood Equilibrium Grasp for Multiple Objects," Proc. of Int. Conf. on Robotics and Automation, pp. 2159-2164, 2000.
3. K. Harada, J. Nishiyama, Y. Murakami, and M. Kaneko, "Pushing Multiple Objects using Equivalent Friction Center," Proc. of Int. Conf. on Robotics and Automation, pp. 2485-2491, 2002.
4. W. S. Howard and V. Kumar, "On the Stability of Grasped Objects," IEEE Trans. on Robotics and Automation, Vol. 12, No. 6, pp. 904-917, 1996.
5. J. W. Li, M. H. Jin, and H. Liu, "A New Algorithm for Three-finger Force-closure Grasps of Polygonal Objects," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1800-1804, 2003.
6. H. Maekawa, K. Tanie, and K. Komoriya, "Kinematics, Statics and Stiffness Effect of 3D Grasp by multifingered hand with rolling contact at the fingertip," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 78-85, 1997.
7. V. D. Nguyen, "Constructing Stable Grasps," Int. Journal of Robotics Research, Vol. 7, No. 3, pp. 3-16, 1988.
8. E. Rimon and J. W. Burdick, "Mobility of bodies in contact - Part II: How Forces are Generated by Curvature Effects," IEEE Trans. of Robotics and Automation, pp. 709-717, 1998.
9. E. Rimon, J. W. Burdick, and T. Omata, "A Polyhedral Bound on the Indeterminate Contact Forces in 2D Fixturing and Grasping Arrangements," Proc. of IEEE Int. Conf Robotics and Automation, pp. 1817-1823, Taiwan, 2003.
10. K. B. Shimoga, "Robot grasp synthesis algorithms: A survey." Int. Journal of Robotics Research, Vol. 15, No. 3, pp. 230-266, 1996.
11. T. Yamada, T. Koishikura, Y. Mizuno, N. Mimura, and Y. Funahashi, "Stability Analysis of 3D Grasps by A Multifingered Hand," Proc. of Int. Conf. on Robotics and Automation, pp. 2466-2473, 2001.
12. T. Yoshikawa, T. Watanabe, and M. Daito, "Optimization of Power Grasps for Multiple Objects," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1786-1791, 2001.
13. Y. Yu, K. Fukuda, and S. Tsuji, "On Computation of Grasp Internal Forces for Stably Grasping," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1776-1781, Hawaii, 2001.
14. C. H. Xiong, Y. F. Li, H. Ding, and Y. L. Xiong, "On the Dynamic Stability of Grasping," Int. Journal of Robotics Research, Vol. 18, No. 9, pp. 951-958, 1999.