A practical stability measure of grasping

In this paper, we present the stability measure of grasping for multi-fingered robots. The stability measure of grasping is the resistance force and moment of multi-fingered robots that can withstand the external disturbance forces and moments. We calculate translational and rotational acceleration convex polytopes which are considered the properties of objects and robots. Therefore, we produce the resistance force and moment respectively which are absolutely stable about external disturbances in all directions. The effectiveness of this method is verified with an example.