Study of Stable Grasp Contact Point Slip Using Internal Stiffness

Abstract

Consider the case where the robot hand and the object to be grasped are in point contact with friction between each contact point, and the contact force vector changes when an external force is applied.When an external force is applied to the object, the grasp is stable unless the contact force vector exceeds the friction boundary vector of the contact point, but if it exceeds the friction boundary vector, slippage is suppressed unless the internal stiffness is set. I can't do it and I can't keep track of it. However, it was confirmed that even if slip occurs by setting the internal stiffness, slip can be suppressed by returning the contact force within the friction boundary vector due to the change in internal force due to internal stiffness.Internal stiffness is an internal force that is difficult to see from the outside, and a force is generated according to the displacement between contact points.