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Title: On the dynamic stability of grasping

Abstract

Stability is one of the important properties that a robot hand grasp must possess to be able to perform tasks similar to those performed by human hands. This paper discusses the dynamic stability of a grasped object. To analyze the stability of grasps, the authors build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, they determine the conditions associated with the dynamic stability and discuss the effects of various factors on the grasp stability. A quantitative measure for evaluating grasps is then presented. Finally, the effectiveness of the proposed theory is verified via examples.

Authors:
; ; ;
Publication Date:
Research Org.:
City Univ. of Hong Kong (HK)
OSTI Identifier:
20001202
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research
Additional Journal Information:
Journal Volume: 18; Journal Issue: 9; Other Information: PBD: Sep 1999; Journal ID: ISSN 0278-3649
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; ROBOTS; HANDS; STABILITY; CONTROL THEORY; DYNAMICS

Citation Formats

Xiong, C.H., Li, Y.F., Ding, H., and Xiong, Y.L. On the dynamic stability of grasping. United States: N. p., 1999. Web. doi:10.1177/02783649922066682.
Xiong, C.H., Li, Y.F., Ding, H., & Xiong, Y.L. On the dynamic stability of grasping. United States. doi:10.1177/02783649922066682.
Xiong, C.H., Li, Y.F., Ding, H., and Xiong, Y.L. Wed . "On the dynamic stability of grasping". United States. doi:10.1177/02783649922066682.
@article{osti_20001202,
title = {On the dynamic stability of grasping},
author = {Xiong, C.H. and Li, Y.F. and Ding, H. and Xiong, Y.L.},
abstractNote = {Stability is one of the important properties that a robot hand grasp must possess to be able to perform tasks similar to those performed by human hands. This paper discusses the dynamic stability of a grasped object. To analyze the stability of grasps, the authors build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, they determine the conditions associated with the dynamic stability and discuss the effects of various factors on the grasp stability. A quantitative measure for evaluating grasps is then presented. Finally, the effectiveness of the proposed theory is verified via examples.},
doi = {10.1177/02783649922066682},
journal = {International Journal of Robotics Research},
issn = {0278-3649},
number = 9,
volume = 18,
place = {United States},
year = {1999},
month = {9}
}