Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2006.12.11.1102

Grasp Stability Analysis in Dual-Space and Optimal Grasp Planning for Two-Fingered Robots in 2-D  

Kook, Myung-Ho (충남대학교 BK21 메카트로닉스사업단)
Jang, Myeong-Eon (국방과학연구소)
Lee, Ji-Hong (충남대학교 BK21 메카트로닉스사업단)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.11, 2006 , pp. 1102-1110 More about this Journal
Abstract
This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.
Keywords
dual-space; grasp stability index; friction-cone; force-closure; optimal grasp planning;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 J. K. Salisbury and B. Roth, 'Kinematic and force analysis of articulated mechanical Hands,' ASME J. Mech. Design, vol. 82-DET-13, 1982
2 V-D. Nguyen, 'Constructing force-closure grasps.' International Journal of Robotics Research, (3):3-16, June 1988   DOI   ScienceOn
3 J. Ponce and B. Faverjon, 'On computing three-finger force-closure grasps of polygonal objects.' IEEE Transactions on Robotics and Automation, 11(6):868-881, December 1995   DOI   ScienceOn
4 G. Guo, and W. Gruver, 'Dynamic grasp planning of multifingered robot hands based on asymptotic stability,' IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetic, vol. 26, no. 5, 1996   DOI
5 Y. Li, S. Tso, and Q. Meng, 'Grasping force measurement for dynamic grasp stability assessment,' IEEE Transaction on Instrumentation and Measurement, 1998   DOI   ScienceOn
6 S. Arimoto, J. Bae, and K. Tahara, 'Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers,' Proc. of the 2003 IEEE Int. Con. on Robotics & Automation, 2003   DOI
7 W. Howard and V. Kumar, 'On the stability of grasped objects,' IEEE Tran. On Robotics and Automation. 1996   DOI   ScienceOn
8 A. Shapiro, E. Rimon, and J. Burdick, 'On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability,' Proc. of the 2004 IEEE Int. Con. on Robotics & Automation, 2004   DOI
9 A. Sudsang and T. Phoka, 'Geometric reformulation of 3-fingered force-closure condition,' Proc. of the 2005 IEEE Int. Conf. On Robotics and Automation, 2005
10 D. Montana, 'Contact stability for two-fingered grasps,' IEEE Trans. On Robotics & Automation, 1992   DOI   ScienceOn
11 T. Yamada, T. Koishikura, Y. Mizuno, N. Mimura, and Y. Funahashi, 'Stability analysis of 3D grasps by a multifingered hand,' Proc. of the 2001 IEEE Int. Con. on Robotics & Automation, 2001   DOI
12 P. Jenmalm, A. Goodwin, R. Johansson, 'Control of grasp stability when humans lift objects with different surface curvatures,' Journal of Neurophysiology, 1998
13 T. Yamada, T. Ooba, T. Yamamoto, N. Mimura, and Y. Funahashi, 'Grasp stability analysis of two objects in two dimensions,' Proc. of the 2005 IEEE Int. Con. on Robotics & Automation, 2005
14 B. Kim, B. Yi, S. Oh, and I. Suh, 'Optimal grasp planning of object based on weighted composite grasp index,' Journal of Contol, Automation and Systems Engineering, vol. 6, no. 11, 2000   과학기술학회마을
15 Y. Funahashi, T. Yamada, M. Tate, and Y. Suzuki, 'Grasp stability analysis considering the curvatures at contact points,' Proc. Of the 1996 IEEE Int. Conf. on Robotics and Automation, 1996   DOI
16 M. R. Cutkosky, 'On grasp choice, grasp models, and the design of hands for manufacturing tasks,' Trans. On Robotics and Automation, vol. 5, no. 3, June 1989   DOI