This paper analyze stability of an object grasped by soft-fingers in 3-dimensional space based on moment stability. We firstly define the moment stability as a criterion for stabil...
— This paper analyze stability of an object grasped by a pair of soft-fingers in two-dimensional space based on moment stability. We firstly define the moment stability as a c...
This paper examines the stability of the exible-object impedance controller when coupled to an arbitrary passive environment. A simple representative system is developed to study ...
The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. ...
This paper considers grasps and fixtures whose contacts react according to force-displacement laws consistent with friction constrains at the contacts. The passive force closure s...