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oai:kanazawa-u.repo.nii.ac.jp:00008952 2024-06-20T06:17:28Z 934:935:936

Optimization of Power Grasps for Multiple Objects Yoshikawa, Tsuneo 1292 60026177 60026177 Watanabe, Tetsuyo 9863 80363125 80363125 80363125 Daito, Mutsuo 12731 Power grasp is a grasp that can hold objects stably without changing the joint torques of fingers. Almost all studies on power grasp deal with one object. But it is more efficient to hold multiple objects at the same time. This paper derives a condition for power grasp for multiple objects, and defines an optimal power grasp from the viewpoint of decreasing the work of joint torques. Lastly, we show some numerical examples to verify the validity of our approach. journal article IEEE 2001-01-01 AM application/pdf Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2001 2 1786 1791 1050-4729 https://kanazawa-u.repo.nii.ac.jp/record/8952/files/TE-PR-WATANABE-T-1786.pdf http://hdl.handle.net/2297/35238 https://kanazawa-u.repo.nii.ac.jp/records/8952 eng 10.1109/ROBOT.2001.932868