Lay-Down Operation Using Two-Fingered Hands

Abstract

In this paper, we discuss the lay-down operation, which is one of the tumbling operations using two-fingered hands. We explicitly derive an analytical solution for the minimum fingertip force at a given fingertip position. We also propose an algorithm which is able to determine the optimal fingertip position. The optimal fingertip position is obtained by a contour line of minimum fingertip force.