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ICRA
2006
IEEE

A Quantitative Test for the Robustness of Graspless Manipulation

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A Quantitative Test for the Robustness of Graspless Manipulation
Abstract— In this paper, the robustness of graspless manipulation (or nonprehensile manipulation) is investigated. We derive some new constraints for static frictional forces in graspless manipulation, which gives us more accurate evaluation of the robustness of graspless manipulation than previous studies. We also present a procedure to calculate a measure of the robustness based on linear programming. Numerical examples are shown to prove that our new method works well even when previous methods make an inappropriate evaluation.
Yusuke Maeda, Satoshi Makita
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Yusuke Maeda, Satoshi Makita
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