Softness effects on manipulability and grasp stability | Zendy

Tetsuyou Watanabe | Zendy

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Softness effects on manipulability and grasp stability

Author(s) -

Tetsuyou Watanabe

Publication year - 2011

Publication title -

2011 ieee/rsj international conference on intelligent robots and systems

Language(s) - English

Resource type - Conference proceedings

DOI - 10.1109/iros.2011.6048247

Subject(s) - grasp , computer science , stability (learning theory) , control theory (sociology) , artificial intelligence , control (management) , machine learning , programming language

This paper presents a novel analysis for the effects of softness at the fingertip on the manipulability and stability of grasping. The stability for grasping can be regarded that how much magnitude of external wrench we can balance. We formulate manipulability and the set of generable object wrenches for grasping system, taking deformation of the fingertips into consideration, and show that the increase of the softness decreases the manipulability while it increases generable object wrench. The validity of our analysis is shown by numerical examples. © 2011 IEEE

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