Passive Reaction Analysis for Grasp Stability

In this paper, we focus on the following problem in multifingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints, respond in such a way to preserve quasi-static equilibrium?...

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Veröffentlicht in:	IEEE transactions on automation science and engineering 2018-07, Vol.15 (3), p.955-966
Hauptverfasser:	Haas-Heger, Maximilian, Iyengar, Garud, Ciocarlie, Matei
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Force Grasp force analysis grasp stability analysis grasping Jacobian matrices Kinematics multifinger hands Robots Stability criteria underactuated hands
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