TY - GEN
T1 - Grasp stability evaluation based on energy tolerance in potential field
AU - Tsuji, Tokuo
AU - Baba, Kosei
AU - Tahara, Kenji
AU - Harada, Kensuke
AU - Morooka, Ken'Ichi
AU - Kurazume, Ryo
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - We propose an evaluation method of grasp stability which takes into account the elastic deformation of fingertips from the viewpoint of energy. An evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on its contact surface. To formulate the evaluation value, the elastic potential energy of fingertips and the gravitational potential energy of a grasped object are considered. It is ensured that fingertips do not slip on grasped object surfaces if the external energy applied to the object is less than the evaluation value. Since our evaluation value explicitly considers the deformation values of fingertips, grasp stability is evaluated by taking into consideration the contact forces generated by the deformation. The effectiveness of our method is verified through numerical examples.
AB - We propose an evaluation method of grasp stability which takes into account the elastic deformation of fingertips from the viewpoint of energy. An evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on its contact surface. To formulate the evaluation value, the elastic potential energy of fingertips and the gravitational potential energy of a grasped object are considered. It is ensured that fingertips do not slip on grasped object surfaces if the external energy applied to the object is less than the evaluation value. Since our evaluation value explicitly considers the deformation values of fingertips, grasp stability is evaluated by taking into consideration the contact forces generated by the deformation. The effectiveness of our method is verified through numerical examples.
UR - http://www.scopus.com/inward/record.url?scp=84958173451&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958173451&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7353688
DO - 10.1109/IROS.2015.7353688
M3 - Conference contribution
AN - SCOPUS:84958173451
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2311
EP - 2316
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -