A quantitative stability measure for graspless manipulation

Robotic Grasping and Fine Manipulation Using Soft Fingertip

“…Over the past several decades, object manipulation and grasping by robot hands has been widely studied [1][2][3][4][5][6][7]. Multifingered-hand research has focused on grasping control [8] and visual and tactile control [9].…”

A quantitative test for the robustness of graspless manipulation

“…The robustness measure for graspless manipulation defined in [10] evaluates how much the object can resist external disturbances without changing its motion. We also use this definition in this paper and then the value of the measure, z, can be written as follows:…”

“…3. In this case, the value of the measure in [10] diverges to infinity for the friction coefficient larger than 1.0 (see examples in Section V); that is, we cannot move this object even with infinite external forces-of course, this result is unreasonable.…”

“…Maeda and Arai [10] presented a robustness measure for graspless manipulation that evaluates how much the manipulated object can resist external disturbances without changing its motion. Although the measure can deal with the situations as shown in Fig.…”

“…We adopt the definition of the measure in [10] but modify the calculation procedure of the measure by considering some new constraints, which were originally derived by Omata and Nagata [11] [12] for power grasps, on static frictional forces. The new calculation method leads to improved accuracy of robustness evaluation for graspless manipulation.…”