Bounded Force Closureに基づく変形しやすい物体の把持に関する静力学的解析

抄録

A static analysis of deformable object grasping based on bounded force closure is presented. First, we introduce a new concept of bounded force closure, which is an extension of force closure condition. Secondly, we investigate the necessary conditions for the bounded force closure in order to derive the properties of bounded force closure grasping. Thirdly, the deformation of rod-like objects is formulated. Then, we propose a procedure to evaluate the stability of deformable object grasping. Finally, some numerical examples are shown in order to demonstrate the effectiveness of our proposed method.