Jan 19, 2018 · We present evidence showing that this formulation captures important effects for assessing the stability of a grasp employing some of the most ...

Mar 10, 2021 · We present a method that applies traditional grasp models to maintain quasi-static stability throughout a nominally model-free reinforcement ...

This approach is particularly relevant for the large family of grasping devices that are not equipped with tactile or proprioceptive sensors, ...

Overall, the main contribution of this paper is a quasi-static grasp stability analysis framework to determine the passive response of the hand-object sys- tem ...

Abstract—Passive reaction effects in grasp stability analysis oc- cur when the contact forces and joint torques applied by a grasp.

Stability analysis is one of the foundational problems for multi-fingered robotic manipulation. It is often formalized.

We present the first grasp model that captures passive effects due to nonbackdrivable actuators and underactuation.

Passive reaction effects in grasp stability analysis occur when the contact forces and joint torques applied by a grasp change in response to external ...

Stability analysis is one of the foundational problems for multi-fingered robotic manipulation. It is often formalized.

May 7, 2020 · In this study, we introduce an analysis framework constructed to capture such di?erences, and present evidence showing that this is an important distinction.