Accurate Energetic Constraints for Passive Grasp Stability Analysis
نویسندگان
چکیده
منابع مشابه
Passive Reaction Analysis for Grasp Stability
In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints, respond in such a way as to preserve quasi-static equilibrium? In particular, we assume that there is no change in the joint torques being actively exerted b...
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Stability analysis for multi-fingered robotic grasping is often formalized as the problem of answering the following questions: can the hand exert contact forces on the object either without a net resultant wrench (thus loading the contacts while creating purely internal forces) or in order to counterbalance an external disturbance (by applying an equal and opposite wrench). However, some of th...
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Passive states are defined as those states that do not allow for work extraction in a cyclic (unitary) process. Within the set of passive states, thermal states are the most stable ones: they maximize the entropy for a given energy, and similarly they minimize the energy for a given entropy. Here we find the passive states lying in the other extreme, i.e., those that maximize the energy for a g...
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We propose a new method for analyzing the stability of grasps. The characteristic points in this paper are to consider the curvature of both hand and object at contact points and the grasp with friction and frictionless contact. From this analysis, it is shown that the grasp using round fingers is more stable than using sharp fingers. Moreover, we establish the condition on the finger’s stiffne...
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In this paper, we deal with the stability analysis of an object grasped by fingers with linear stiffness in the case where the gravity effect is considered. The stability of the grasp is defined based on the potential energy of the grasp. The analysis problem is formulated as finding a condition of the stiffness parameters and contact points for the position of the center of gravity (COG) to ex...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2020
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2020.2974108