Grasp Stability Analysis of Two Objects with Rolling Contact in Two Dimensions

2004 ◽  
Vol 2004 (0) ◽  
pp. 151-152
Author(s):  
T Yamada ◽  
T Ooba ◽  
N Mimura ◽  
Y Funahashi
Keyword(s):  
Stability Analysis ◽  
Two Dimensions ◽  
Rolling Contact ◽  
Grasp Stability

263 Grasp Stability Analysis of An Object in Two Dimensions

2011 ◽  
Vol 2011.60 (0) ◽  
pp. _263-1_-_263-2_
Author(s):  
Takayoshi YAMADA ◽  
Shuichi YAMANAKA ◽  
Manabu YAMADA ◽  
Hidehiko YAMAMOTO
Keyword(s):  
Stability Analysis ◽  
Two Dimensions ◽  
Grasp Stability

scholarly journals Grasp Stability Analysis of Two Objects in Two Dimensions

2006 ◽  
Vol 72 (714) ◽  
pp. 478-485 ◽  
Author(s):  
Takayoshi YAMADA ◽  
Toshinori OOBA ◽  
Tomoya YAMAMOTO ◽  
Nobuharu MIMURA ◽  
Yasuyuki FUNAHASHI
Keyword(s):  
Stability Analysis ◽  
Two Dimensions ◽  
Grasp Stability

Grasp stability analysis of two objects with any friction property in two dimensions

2010 ◽  
Vol 10 (1/2/3) ◽  
pp. 273 ◽  
Author(s):  
Takayoshi Yamada ◽  
Nobuharu Mimura ◽  
Yasuyuki Funahashi
Keyword(s):  
Stability Analysis ◽  
Two Dimensions ◽  
Friction Property ◽  
Grasp Stability

Modeling and Grasp Stability Analysis for Object Manipulation by Soft Rolling Fingertips

2014 ◽  
Vol 11 (03) ◽  
pp. 1450020 ◽  
Author(s):  
John Fasoulas ◽  
Michael Sfakiotakis
Keyword(s):  
Stability Analysis ◽  
Dynamic Model ◽  
Object Manipulation ◽  
Kinematics And Dynamics ◽  
Control Law ◽  
Two Dimensional ◽  
Orientation Control ◽  
Grasp Stability ◽  
Different Types ◽  
General Dynamic

This paper presents a general dynamic model that describes the two-dimensional grasp by two robotic fingers with soft fingertips. We derive the system's kinematics and dynamics by incorporating rolling constraints that depend on the deformation and on the rolling distance characteristics of the fingertips' material. We analyze the grasp stability at equilibrium, and conclude that the rolling properties of the fingertips can play an important role in grasp stability, especially when the width of the grasped object is small compared to the radius of the tips. Subsequently, a controller, which is based on the fingertips' rolling properties, is proposed for stable grasping concurrent with object orientation control. We evaluate the dynamic model under the proposed control law by simulations and experiments that make use of two different types of soft fingertip materials, through which it is confirmed that the dynamic model can successfully capture the effect of the fingertips' deformation and their rolling distance characteristics. Finally, we use the dynamic model to demonstrate by simulations the significance of the fingertips' rolling properties in grasping thin objects.

Grasp stability analysis for elastic fingertips by using potential energy

2014 ◽  
Author(s):  
Tokuo Tsuji ◽  
Kosei Baba ◽  
Kenji Tahara ◽  
Kensuke Harada ◽  
Ken'ichi Morooka ◽  
...  
Keyword(s):  
Stability Analysis ◽  
Potential Energy ◽  
Grasp Stability

Stability Analysis of Planar Grasp with 2D-Virtual Spring Model

1999 ◽  
Vol 11 (4) ◽  
pp. 274-282 ◽  
Author(s):  
Takayoshi Yamada ◽  
◽  
Sushanta Kumar Saha ◽  
Nobuharu Mimura ◽  
Yasuyuki Funahashi ◽  
...  
Keyword(s):  
Contact Force ◽  
External Disturbance ◽  
Rolling Contact ◽  
Initial Contact ◽  
Spring Model ◽  
Spring Stiffness ◽  
Grasp Stability ◽  
Stiffness Matrices ◽  
The Relationship ◽  
Special Case

We analyze stability of planar grasp using a 2D virtual spring model. A 2D virtual spring model is widely used to explore frictionless grasp, but the direction of contact force has not been studied for a grasped object displaced by external disturbance. Finger displacement is restricted to the normal at initial contact. We introduce a 2D spring model for a frictionless case. The direction of contact force is explicitly formulated. Using potential energy, we analyze stability of frictionless grasp and show that the 1D-spring model is a special case of our proposed 2D-spring model. Frictional grasp stability is also studied using rolling contact. Numerical examples of 2-fingered grasp demonstrate the effects of parameters such as spring stiffness and contact force. It is shown that an optimum force exists for stabilizing frictionless grasp. It is proved that friction enhances grasp stability from the relationship between frictionless and frictional stiffness matrices. Stiffness conditions for stabilizing 3-fingered grasp is clarified.

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