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Quasi-static Stability Analysis of Frictionless Planar Enveloping Grasps (Analysis of curvature effects at contact points)
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- Yamada Takayoshi
- Department of Mechanical Engineering, Gifu University
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- Sato Junya
- Department of Mechanical Engineering, Gifu University
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- Ito Kazuaki
- Department of Mechanical Engineering, Gifu University
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- Yamamoto Hidehiko
- Department of Engineering, Gifu University
Description
In this paper, we discuss grasp stability of frictionless planar enveloping grasps. The grasp stability is based on potential energy of the grasp system replaced with an elastic system. A stiffness matrix of the grasp system is derived. The grasp stability is evaluated by the eigenvalues of the matrix. We show that the matrix depends on grasp positions, grasp forces, local curvatures, etc., at contact points. Moreover, we analyze curvature effects on the grasp system by differentiating the matrix by the curvatures. We show that the derivative is negative semi definite.
Journal
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- Proceedings of International Conference on Artificial Life and Robotics
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Proceedings of International Conference on Artificial Life and Robotics 28 941-945, 2023-02-09
ALife Robotics Corporation Ltd.
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Details 詳細情報について
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- CRID
- 1390015333257564928
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- ISSN
- 21887829
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- Text Lang
- en
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- Data Source
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- JaLC
- Crossref
- OpenAIRE
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- Abstract License Flag
- Disallowed