Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect

Abstract

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)

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Cite this paper

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