1A1-B32 Grasp Stability Analysis of Two Objects in Three Dimensions

2006 ◽  
Vol 2006 (0) ◽  
pp. _1A1-B32_1-_1A1-B32_4
Author(s):  
Takayoshi YAMADA ◽  
Tomoya YAMAMOTO ◽  
Yasuyuki FUNAHASHI
Keyword(s):  
Stability Analysis ◽  
Three Dimensions ◽  
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 of discrete schemes of Biot’s poroelastic equations

2020 ◽  
Author(s):  
Y Alkhimenkov ◽  
L Khakimova ◽  
Y Y Podladchikov
Keyword(s):  
Stability Analysis ◽  
Three Dimensions ◽  
Stability Conditions ◽  
Von Neumann ◽  
Explicit Schemes ◽  
Numerical Stability Analysis ◽  
Von Neumann Stability ◽  
Von Neumann Stability Analysis ◽  
Biot’S Equations ◽  
Implicit And Explicit

Summary The efficient and accurate numerical modeling of Biot’s equations of poroelasticity requires the knowledge of the exact stability conditions for a given set of input parameters. Up to now, a numerical stability analysis of the discretized elastodynamic Biot’s equations has been performed only for a few numerical schemes. We perform the von Neumann stability analysis of the discretized Biot’s equations. We use an explicit scheme for the wave propagation and different implicit and explicit schemes for Darcy’s flux. We derive the exact stability conditions for all the considered schemes. The obtained stability conditions for the discretized Biot’s equations were verified numerically in one-, two- and three-dimensions. Additionally, we present von Neumann stability analysis of the discretized linear damped wave equation considering different implicit and explicit schemes. We provide both the Matlab and symbolic Maple routines for the full reproducibility of the presented results. The routines can be used to obtain exact stability conditions for any given set of input material and numerical parameters.

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
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