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The International Journal of Robotics Research
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On the Dynamic Stability of Grasping

Cai-Hua Xiong

You-Fu Li

Han Ding

Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong mecxiong{at}cityu.edu.hk

You-Lun Xiong

School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, China

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, we build the model of the dynamics of the grasped object in response to the small perturbances. Furthermore, we 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.

The International Journal of Robotics Research, Vol. 18, No. 9, 951-958 (1999)
DOI: 10.1177/02783649922066682
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