2A1-E12 On the relation between object posture and contact forces in 2D grasping

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  • 2A1-E12 2次元平面の把持における物体姿勢と接触力の関係について(ロボットハンドの機構と把握戦略)

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In this paper, we consider which posture of grasped object is best when we grasp it by pinching with friction. Up to now, we have analyzed this issue for circular object in the 2D grasping with two fingers. Here, we consider the grasping of rectangular object. As case of the circular object, we obtained a similar conclusion that the optimal posture is determined by the two friction cones at the two contact points.

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