Robustness of power grasp

Zhang, X.-Y.; Nakamura, Yoshihiko; Goda, Katsuichiro; Yoshimoto, Kenichi

doi:10.1109/robot.1994.350910

Cited by 76 publications

(27 citation statements)

References 6 publications

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“…Zhang et al [17] introduced a computational algorithm that calculates the critical external force required to move the grasped object in a certain direction. The marginal external force space is the polyhedral convex set of external forces that satisfy contact conditions with constant finger-joint torques.…”

Section: Related Workmentioning

confidence: 99%

Detection and evaluation of grasping positions for autonomous agents

Kyota

Watabe

Saito

et al. 2005

2005 International Conference on Cyberworlds (CW'05)

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The action of grasping an object is very important for a humanoid agent with hand, evolving autonomously in a virtual world. If an agent is given the order "Grasp the object", he has to determine the portion of the object to grasp. In order to determine a grasping position, it is necessary to recognize the form of the 3-dimensional geometry, and detect portions which are suitable for grasp. Assuming that the object is grasped by one hand, we propose two techniques for detecting appropriate portions to be grasped on the surface of an object and for generating the grasping postures.In this paper, our main contributions are as follows: The first is the detection of appropriate portions to be grasped on the surface of an object; The second is the formation of the hand shape to grasp various shaped objects. Using the two proposing methods, grasped positions and the hand shapes for each of them are computed. Moreover, these positions are evaluated by their stabilities using the robotics technique.

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Section: Related Workmentioning

confidence: 99%

Detection and evaluation of grasping positions for autonomous agents

Kyota

Watabe

Saito

et al. 2005

2005 International Conference on Cyberworlds (CW'05)

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“…On the other hand, PFC corresponds to the concept of the power grasp. 24,25 However, there is no research dealing with the issue of force closure for multiple objects. Figure 2 shows the grasp of m objects by n fingers, where finger j contacts with object i, and object i has a common contact point with object l. Let R , Bi (i = 1, .…”

Section: Relevant Workmentioning

confidence: 99%

Active force closure for multiple objects

2002

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This article discusses active force closure (AFC) for the manipulation of multiple objects. AFC for multiple objects is defined in such a way that the finger can generate an arbitrary acceleration onto a certain point of multiple objects. We define two kinds of AFC: in the first, an arbitrary acceleration can be generated onto each of the objects; in the second, an arbitrary acceleration can be generated onto the center of mass of multiple objects without changing the relative position of the objects. We show that the grasped object cannot always be manipulated arbitrarily even if the first kind of AFC is satisfied. We also show that the grasped objects are manipulated like a single rigid body if the second kind of AFC is satisfied. To explain these features of AFCs, numerical examples for the grasp of three objects are shown.

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“…They calculate it based on a linear programming technique. Zhang et al developed a method for calculating the same measure emphasizing that power grasps can passively resist an external wrench [11]. Howard and Kumar discussed the stability of power grasps calculating the grasp stiffness matrix [12].…”

Section: Introductionmentioning

confidence: 99%

“…given by (11) and is a free variable. 1 The homogeneous solution requires zero moment for all joints and gives no external wrench.…”

Section: Introductionmentioning

confidence: 99%

Rigid body analysis of the indeterminate grasp force in power grasps

Omata

Nagata²

2000

IEEE Trans. Robot. Automat.

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This paper analyzes the indeterminate grasp force in power grasps with a rigid body model. A power grasp overconstrains an object with multiple contact points using the surfaces of finger links and palm. It is known that the overconstrained grasp results in the static indeterminacy of the grasp force. This paper shows that it also results in an infeasible combination of the sliding directions at the contact points. A static friction force acts only in the opposite direction of the trend of sliding. This characteristic of friction restricts the grasp force in power grasps although it is indeterminate. First, we show an example to illustrate the restriction on the grasp force. Then, we formulate it formally. This analysis leads to a special case where the grasp force is unique.

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Robustness of power grasp

Cited by 76 publications

References 6 publications

Detection and evaluation of grasping positions for autonomous agents

Detection and evaluation of grasping positions for autonomous agents

Active force closure for multiple objects

Rigid body analysis of the indeterminate grasp force in power grasps

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