Abstract:This article presents a stability analysis of object grasping with a compliant multi-fingered robot hand. This stability analysis is based on an energetic approach, in which we aim to compute the maximum amount of energy that can be stored by a compliant hand-object system about a stable equilibrium before being destabilized. More specifically, the case of external disturbance wrenches is investigated. This analysis admits several applications, two of which are illustrated in this article on a case study. Firs… Show more
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