@article{oai:kanazawa-u.repo.nii.ac.jp:00008992,
 author = {Watanabe, Tetsuyou and Yoshikawa, Tsuneo},
 issue = {1},
 journal = {Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
 month = {Jan},
 note = {In this paper, we search optimal grasp points and configurations of fingers for not only resisting an external force applied to a grasped object but also generating a desirable acceleration of the object. Based on the concept of required external force set, we define required acceleration and equilibrium-force sets. By using the sets, we formulate an optimization problem from the viewpoint of decreasing the magnitudes of the joint torques required to generate the required acceleration and equilibrium-force. We also show that we can solve the problem by using a branch-and-bound method. The validity of our approach is shown by numerical examples.},
 pages = {338--343},
 title = {Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets},
 year = {2003}
}