Static Stability Analysis of Multiple Objects Grasped by Multifingered Hands for Dexterous Manipulation

针对多指手灵巧操作，分析了多物体静态抓取稳定性。该方法通过考虑接触点处的摩擦滚动接触约束和无摩擦滑动接触约束，推导出每个手指的刚度矩阵。因此，我们的方法是能够评估共存的把握，包括摩擦接触和无摩擦接触。由于把握刚度矩阵已解析推导，把握参数的稳定性的影响明确评估。

Aiming at dexterous manipulation by multi-fingered hands, we have analyzed static grasp stability of multiple objects. Our proposed method derives a stiffness matrix of every finger by considering frictional rolling contact constraints at contact point and frictionless sliding contact constraints. Hence, our method is able to evaluate coexistence grasps including both frictional contacts and frictionless contacts. Because grasp stiffness matrices have been derived analytically, the effect of grasp parameters to the stability is explicitly evaluated.