Cart (Loading....) | Create Account
Close category search window
 

Transition stability of enveloped objects

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kaneko, M. ; Dept. of Ind. & Syst. Eng., Hiroshima Univ., Japan ; Higashimori, M. ; Tsuji, T.

This paper discusses the transition stability in sliding an object enveloped by a multi-fingered robot hand whose joints are under constant torque command. We provide a new concept on transition stability, where a transition is called stable if the object is guaranteed to reach the goal section without moving away from a virtual cylinder defined in hand working space. To evaluate the transition stability, we introduce the force-flow-diagram enabling us to confirm whether the object moves to the designated direction or not. By using the diagram, we discuss the transition stability in lifting up an object to the palm under gravitational force. Simulation results show that the transition phase for a column object with concave surface is stable, while that having convex surface tends to be unstable. We also show experimental results to confirm the basic behaviours during the transition phase

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.