TY - GEN
T1 - Grasp stability analysis for elastic fingertips by using potential energy
AU - Tsuji, Tokuo
AU - Baba, Kosei
AU - Tahara, Kenji
AU - Harada, Kensuke
AU - Morooka, Ken'Ichi
AU - Kurazume, Ryo
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/1/30
Y1 - 2014/1/30
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84946691217&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946691217&partnerID=8YFLogxK
U2 - 10.1109/SII.2014.7028081
DO - 10.1109/SII.2014.7028081
M3 - Conference contribution
AN - SCOPUS:84946691217
T3 - 2014 IEEE/SICE International Symposium on System Integration, SII 2014
SP - 453
EP - 458
BT - 2014 IEEE/SICE International Symposium on System Integration, SII 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE/SICE International Symposium on System Integration, SII 2014
Y2 - 13 December 2014 through 15 December 2014
ER -