DocumentCode
2543731
Title
Softness effects on manipulability and grasp stability
Author
Watanabe, Tetsuyou
Author_Institution
Coll. of Sci. & Eng., Kanazawa Univ., Kanazawa, Japan
fYear
2011
fDate
25-30 Sept. 2011
Firstpage
1398
Lastpage
1404
Abstract
This paper presents a novel analysis for the effects of softness at the fingertip on the manipulability and stability of grasping. The stability for grasping can be regarded that how much magnitude of external wrench we can balance. We formulate manipulability and the set of generable object wrenches for grasping system, taking deformation of the fingertips into consideration, and show that the increase of the softness decreases the manipulability while it increases generable object wrench. The validity of our analysis is shown by numerical examples.
Keywords
deformation; dexterous manipulators; stability; deformation; fingertip; grasp stability; grasping system; manipulability; object wrenches; softness effects; Ellipsoids; Force; Grasping; Indexes; Numerical stability; Stability criteria;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location
San Francisco, CA
ISSN
2153-0858
Print_ISBN
978-1-61284-454-1
Type
conf
DOI
10.1109/IROS.2011.6094582
Filename
6094582
Link To Document