On the Dynamic Stability of Grasping

@article{Xiong1999OnTD,
  title={On the Dynamic Stability of Grasping},
  author={Caihua Xiong and Youfu Li and Han Ding and Youlun Xiong},
  journal={I. J. Robotics Res.},
  year={1999},
  volume={18},
  pages={951-958}
}
Stability is one of the important properties that a robot hand grasp must possess to be able to perform tasks similar to those performed by human hands. This paper discusses the dynamic stability of a grasped object. To analyze the stability of grasps, we build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, we determine the conditions associated with the dynamic stability and discuss the effects of various factors on the grasp stability. A… CONTINUE READING
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