抄録
In this paper, we discuss the active force closure (AFC) for multiple objects. We define two kinds of AFCs, i.e., the first kind of AFC where the finger can exert an arbitrary acceleration to each one of the multiple objects, and the second kind of AFC where the finger can exert an arbitrary acceleration to multiple objects without changing the relative position of each object. We show that the grasped object cannot always be manipulated arbitrarily even if the first kind of AFC is satisfied. On the other hand, since the second kind of AFC is a stronger condition than the first kind of AFC, the grasped objects are manipulated just like a single rigid body if the second kind AFC is satisfied. To show these features of AFCs for multiple objects, some examples are shown.
