Abstract
This paper proposes a novel control method for stable grasping using a multi-fingered hand-arm system. The proposed method is simple and easily achieves stable grasping of an arbitrary polyhedral object using an arbitrary number of fingers. Firstly, we model nonholonomic rolling constraints between a multi-fingered handarm system and an object, and derive a condition for stable grasping through stability analysis. A new index for evaluating the possibility of stable grasping is proposed and efficient initial contact positions are analyzed. The stability of the proposed system and the validity of the index are verified through numerical simulations.
