## Stable region of gravity position of object grasped by virtual springs

- Akira Nakashima, Yoshikazu Hayakawa
- 2013 European Control Conference (ECC)
- 2013

In this paper, we deal with the stability analysis of an object grasped by fingers with linear stiffness in the case where the gravity effect is considered. The stability of the grasp is defined based on the potential energy of the grasp. The analysis problem is formulated as finding a condition of the stiffness parameters and contact points for the… (More)

@inproceedings{Nakashima2011StabilityAO,
title={Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect},
author={Akira Nakashima and Yoshikazu Hayakawa},
year={2011}
}