A Quantitative Stability Measure for Graspless Manipulation

In this paper, the stability of objects in graspless manipulation (or nonprehensile manipulation) is investigated. In contrast with the stability of grasps, it is crucial for the stability of graspless manipulation to evaluate frictional forces applied to objects in contact motion. We formulate the effect of Coulomb friction and propose a quantitative stability measure for graspless manipulation. The measure can be calculated approximately with linear programming. Finally, we show numerical examples. Our stability measure will be useful in planning of graspless manipulation.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Yusuke Maeda, Tamio Arai
• Keywords: Graspless Manipulation, ICRA 2002, Quantitative Stability Measure, Robotics, Stability Measure