Optimal Direction of Grasped Object Minimizing Contact Forces

Ito, Satoshi; Mizukoshi, Yuuki; Ishihara, Koji; Sasaki, Minoru

doi:10.1109/iros.2006.282047

Cited by 4 publications

(4 citation statements)

References 8 publications

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“…Thus, it is worth discussing from the efficiency point of view. However, this issue was not directly treated in the previous works mentioned above besides our studies [19].…”

Section: Introductionmentioning

confidence: 72%

The optimal object posture that minimizes contact forces in grasping

Ito

Mizukoshi

Ishihara

et al. 2009

Journal of the Franklin Institute

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“…Thus, it is worth discussing from the efficiency point of view. However, this issue was not directly treated in the previous works mentioned above besides our studies [19].…”

Section: Introductionmentioning

confidence: 72%

The optimal object posture that minimizes contact forces in grasping

Ito

Mizukoshi

Ishihara

et al. 2009

Journal of the Franklin Institute

Self Cite

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“…To calculate F int , k as well as the inverse of the distance between two contact points must be multiplied to F e . (13) and (15): A large k generically satisfies all these inequalities.…”

Section: Solutionmentioning

confidence: 93%

“…1 as a twodimensional (2D) grasp by two contact points with friction, and have analytically modeled an optimal object in the sense that the least contact forces are required. [13][14][15] However, the problem of finding an object orientation that requires the maximum internal force cannot be solved analytically because of the complexity of the trigonometric calculations. This is the reason we take a graphical approach in this paper.…”

Section: Introductionmentioning

confidence: 99%

A diagram of the minimum necessary internal force required to resist external forces on two-point-grasped objects in two-dimensional space

2011

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This paper considers the magnitude of the gripping power, i.e., the internal force that depends on the grasping posture or object orientation in a two-dimensional grasp by two contact points with friction. Expressing the effect of variations in the object posture as the direction of an external force, we propose an "internal force diagram." The internal force necessary to create a statically stable grasp is depicted in the object coordinate frame. Then, a polar coordinate system is introduced in which the orientation represents the direction of the external force, while the distance from the origin represents the minimum necessary internal force. We demonstrate a method based on friction cone configurations to manually draw the internal force diagram, using only a ruler and a compass. The validity of this drawing method is confirmed by a comparison with computer-generated plots. Finally, the characteristics of the internal force diagram are discussed.

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“…However, such an issue was not sufficiently discussed in the previous studies mentioned above. In our previous studies (Ito et al 2006), the friction was not considered. In this study, it is extended to the grasp with frictions, and the relation between an object orientation and the contact forces are discussed to grasp it by the least contact force.…”

mentioning

confidence: 99%

Object orientation in two dimensional grasp with friction towards minimization of gripping power

2009

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This article reports an analysis of two dimensional grasp where a convex rigid object is grasped by two contact points with friction. The purpose is to find the object orientation that minimizes the norm of the contact force vector, each element of which is composed from the normal force and friction force at each contact point. The formulation of this problem requires some equality or inequality conditions. In the analysis, the solution of the equality conditions is parameterized at first. Based on the fact that the norm of the contact force vector becomes monotonic increasing function of this parameter, the minimal parameter values are calculated by means of the piecewise analysis. Using the relation between the friction coefficient and the apex angle of the friction cone effectively, the following result is obtained: the norm of the contact force, i.e, gripping power becomes locally minimal at the object orientation where the intersection point of the upper sides of two friction cones is located in opposite direction of the gravity from the center of mass of the grasped object.

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Optimal Direction of Grasped Object Minimizing Contact Forces

Cited by 4 publications

References 8 publications

The optimal object posture that minimizes contact forces in grasping

The optimal object posture that minimizes contact forces in grasping

A diagram of the minimum necessary internal force required to resist external forces on two-point-grasped objects in two-dimensional space

Object orientation in two dimensional grasp with friction towards minimization of gripping power

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