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Passive force closure and its computation in compliant-rigid grasps

Shapiro, Amir and Rimon, Elon and Burdick, Joel W. (2001) Passive force closure and its computation in compliant-rigid grasps. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium. Vol.3. IEEE , Piscataway, NJ, pp. 1769-1775. ISBN 0-7803-6612-3. https://resolver.caltech.edu/CaltechAUTHORS:20190625-074602706

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Abstract

The classical notion of force closure is formulated for multifingered hands, where the fingers actively apply any desired force consistent with friction constraints at the contacts. This paper considers a simpler notion of passive force closure, where each finger obeys some force-displacement law that depends on the finger's joint parameters. The fingers apply initial preload grasping forces, and the grasped object is stabilized against external disturbances by the automatic response of the grasping fingers. After motivating the usefulness of passive force closure, we characterize the conditions for its existence. Then we introduce the passive stability set, defined as the collection of external wrenches that can be passively resisted by a given grasp. We introduce a class of grasp arrangements where the grasping mechanism is compliant while the grasped object is rigid. Such compliant-rigid systems are common, and for these systems the passive closure set can be computed in closed form. Simulation results demonstrate the computation of the passive closure set for two and three-finger planar grasps.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2001.977234DOIArticle
Additional Information:© 2001 IEEE.
Record Number:CaltechAUTHORS:20190625-074602706
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190625-074602706
Official Citation:A. Shapiro, E. Rimon and J. W. Burdick, "Passive force closure and its computation in compliant-rigid grasps," Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), Maui, HI, USA, 2001, pp. 1769-1775 vol.3. doi: 10.1109/IROS.2001.977234
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96680
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:20
Last Modified:03 Oct 2019 21:24

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