.png){kind=icon}
返回
Passive Reaction Analysis for Grasp Stability
.png){kind=icon}
OA
AI
DOI：10.1109/TASE.2018.2803620.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
In this paper, we focus on the following problem in multifingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces between the hand and the object, as well as the hand joints, respond in such a way to preserve quasi-static equilibrium? In particular, we assume that there is no change in the joint torques being actively exerted by the motors; any change in contact forces and joint torques is due exclusively to passive effects arising in response to the external disturbance. Such passive effects include, for example, joints that are driven by highly geared motors (a common occurrence in practice) and thus do not back drive in response to external torques. To account for nonlinear phenomena encountered in such cases, and which existing methods do not consider, we formulate the problem as a mixed-integer program used in the inner loop of an iterative solver. We present evidence showing that this formulation captures important effects for assessing the stability of a grasp employing some of the most commonly used actuation mechanisms.
Keyword:
Grasp force analysis
grasp stability analysis
grasping
multifinger hands
underactuated hands
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
6.4
论文数:
5.2K
被引数:
1.6W
机构
引用论文
分享收藏分享收藏分享收藏Simulation of Heat Transfer during Paraffin And Gallium Melting and Solidification Processes Utilizing Star CCm+.png)
CFD Letters
OAAI
CFD LettersIF0
OAAI分享收藏cis-Acting Elements and trans-Acting Factors in the Transcriptional Regulation of Raf Kinase Inhibitory Protein ExpressionPLoS ONEOAAI
PLoS ONEIF0
OAAI分享收藏
查看更多内容