多面凸集合演算を用いたパワーグラスプの限界外力空間の計算

抄録

This paper describes an efficient computation algorithm of the marginal external force space of the power grasp. A general computational algorithm of the space is provided for the 3-dimensional grasp with multiple contacts including defective contacts by a multi-fingered robot hand. Evaluation of the marginal external force space requires the computation of convex hull in a 6-dimensional space, which is known to have O(n^{⌊(d+1)/2⌋}) computational complexity. For more realistic evaluation, we propse to compute the 3-dimensional section of the marginal external force space, and establish its computational scheme. Numerical examples, for 3-dimensional grasp by a 3-fingered robot hand, illustrate the efficiency and usefulness of the proposed algorithms.