二次元平面内の任意形状物体の把握の安定性

抄録

This paper addresses a new concept of constructing stable grasps of arbitrary planar object. We consider the manipulation of arbitrary objects by a multifingered hand, where the contact type is object rolls without finger slipping on the object surface. The synthesis of stable grasps is constructed by virtual springs at the frictional contact point. Each finger has a two directional virtual spring whose stiffness is known but compression is unknown. We explore the positive definiteness of the stiffness matrix of the grasp system from the view point of potential energy. It is shown that the stability is greatly influenced by spring stiffness, position and curvature of fingers, object curvature, and initial grasping forces.