Dynamic grasp planning of multifingered robot hands based on asymptotic stability

@article{Guo1996DynamicGP,
  title={Dynamic grasp planning of multifingered robot hands based on asymptotic stability},
  author={Gongliang Guo and William A. Gruver},
  journal={IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society},
  year={1996},
  volume={26 5},
  pages={764-8}
}
We describe an approach for planning grasps of multifingered robot hands based on a small vibration model. Using features of the grasp configuration, we analyze asymptotic stability, contact situations, and uniaxial fingertip force constraints for the combined planning of finger posture and finger position, and characterize the generalized mass, damping, and stiffness. Choosing the largest time constant of the vibration model as an optimization criterion for planning finger postures and… CONTINUE READING