Grasp strategy for pyramidal-like object

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The obtained results throughout our research activities can be summarized as follows :・Assuming that a triangular pyramidal object is placed on a table under the gravitational field, we showed the necessary and sufficient number of fingers to lift up the triangular object which is impossible for fingers to lift up by directly grasping it. We also showed the strategy to lift up a triangular object by robot fingers.・We extended the strategy to the case where the general pyramidal-like object is lifted up. We showed that the general pyramidal-like object can be lifted up by three fingers except for the regular sqare pyramidal object.・We performed an experiment to lift up a triangular object placed on a table by a robot hand. We showed that the triangular object can be lifted up by utilizing the proposed grasp strategy.・Assuming that that a pyramidal-like object is lifted up and is in an equilibrium state, we analyzed the stability of the object. We obtained the region of the fingers to ensure the stability.