Mechanics of Hybrid Active/Passive-Closure Grasps

In this paper, we discuss the directions of active and passive force closures in hybrid active/passive-closure grasps. We show the directions are orthogonal to each other. We also discuss the magnitudes of the internal forces in the manipulation of the object. In hybrid active/passive-closure grasps, there exist two kinds of magnitudes of internal forces. One is the magnitude of internal forces, which changes if the object moves and the geometry of the fingers changes. The other is the one which don’t change even when the object moves. We derive these two magnitudes

Towards Whole Arm Manipulation by Contact State Transition

This paper discusses the whole arm manipulation allowing the contact state transition. For manipulation of an object under fully constrained, the contact state transition becomes necessary. In order to realize the object manipulation, we first derive the feasible direction of the object manipulation by analyzing the active/passive closure properties for every combination of contact states. Second, we derive the set of joint torque to move the object in the feasible direction. These analyses also provide the joint torque to realize the manipulation at the planned contact states. Effectiveness of the proposed method is confirmed by some simulation results. © 2006 IEEE

Object Manipulation under Hybrid Active/Passive Closure

In this paper, we discuss the manipulation of an object under hybrid active/passive closure. We show the orthogonality between the directions of active and passive force closures for general grasping systems. Based on the orthogonality, we decompose the dynamics of grasping system into the "active part" and the "passive part". By using the decomposition, we show that the grasped object can be manipulated only by considering the dynamics of the active part. We also consider how to determine the desired internal forces in order to satisfy frictional constraints during the manipulation. In order to verify the validity of our approach, some simulation results are shown

Mechanics of Hybrid Active/Passive-Closure Grasps

Abstract- In this paper, we discuss the directions of active and passive force closures in hybrid active/passive-closure grasps. We show the directions are orthogonal to each other. We also discuss the magnitudes of the internal forces in the manipulation of the object. In hybrid active/passive-closure grasps, there exist two kinds of magnitudes of internal forces. One is the magnitude of internal forces, which changes if the object moves and the geometry of the fingers changes. The other is the one which don’t change even when the object moves. We derive these two magnitudes