Modeling and analysis of the compliance and stability of enveloping grasps

We address the stability and performance of enveloping grasps. An enveloping grasp is defined in which robot fingers or arms grasp an object by making contact at points other than just the fingertips or end-effectors. Previous work has demonstrated that enveloping grasps are more robust. However their analysis is difficult because they are usually statically indeterminate and overconstrained. In this paper we develop a method for modeling the stiffness of a grasp. It is based on a model of compliance at each contact and a model of the joint compliance at each joint. It incorporates the kinematics of three-dimensional contact in addition to the kinematics of the robot arm/finger. In particular the methodology is used to show that force closure does not necessarily imply stability.

[1]  J. Besag,et al.  Bayesian image restoration, with two applications in spatial statistics , 1991 .

[2]  B. Turnbull,et al.  NONPARAMETRIC AND SEMIPARAMETRIC ESTIMATION OF THE RECEIVER OPERATING CHARACTERISTIC CURVE , 1996 .

[3]  Vijay Kumar,et al.  A minimum principle for the dynamic analysis of systems with frictional contacts , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[4]  H. Hanafusa,et al.  Stable Prehension by a Robot Hand with Elastic Fingers , 1977 .

[5]  Van-Duc Nguyen,et al.  Constructing Stable Grasps , 1989, Int. J. Robotics Res..

[6]  David J. Montana,et al.  Contact stability for two-fingered grasps , 1992, IEEE Trans. Robotics Autom..

[7]  Mark R. Cutkosky,et al.  Friction, Stability and the Design of Robotic Fingers , 1986 .

[8]  K. Johnson.  Contact Mechanics: Normal contact of elastic solids – Hertz theory , 1985 .

[9]  Antonio Bicchi,et al.  Articulated structures with tendon actuation for whole-limb manipulation , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[10]  Jeffrey C. Trinkle,et al.  On the stability and instantaneous velocity of grasped frictionless objects , 1992, IEEE Trans. Robotics Autom..

[11]  Vijay Kumar,et al.  On the stability of grasped objects , 1996, IEEE Trans. Robotics Autom..

[12]  Mark R. Cutkosky,et al.  Robotic grasping and fine manipulation , 1985 .

[13]  Vijay Kumar,et al.  Stability of planar grasps , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[14]  Imin Kao,et al.  Computing and controlling compliance of a robotic hand , 1989, IEEE Trans. Robotics Autom..

[15]  S. Gruber,et al.  Robot hands and the mechanics of manipulation , 1987, Proceedings of the IEEE.

[16]  Joel W. Burdick,et al.  Mobility of bodies in contact. II. How forces are generated by curvature effects? , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.