接触力を最小にする把持姿勢

サッカーボールのような大きなものを持つとき，片手では把持できないことがあります．しかし，ある姿勢で持つと片手でも把持できるたりします．これは物を掴むときに「掴みやすい姿勢」があることを意味しています．この「掴みやすい姿勢」について接触力の最小化という観点で解析します．

関連論文

Optimal Direction of Grasped Object Minimizing Contact Forces
Proc. of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 1588-1593 (2006)
Satoshi Ito, Yuuki Mizukoshi, Koji Ishihara, Minoru Sasaki

Numerical Analysis for Optimal Posture of Circular Object Grasped with Frictions
Proc. of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp. 1545-1550 (2007)
Satoshi Ito, Yuuki Mizukoshi, Minoru Sasaki

The optimal object posture that minimizes contact forces in grasping
Journal of the Franklin Institute , Vol. 346 , No. 10 , pp. 969-979 (2009)
Satoshi Ito, Yuuki Mizukoshi, Koji Ishihara, Minoru Sasaki

Object orientation in two dimensional grasp with friction towards minimization of gripping power
Biological Cybernetics , Vol. 101 , No. 3 , pp. 215-226 (2009)
Satoshi Ito, Shouta Takeuchi, Minoru Sasaki

A diagram of the minimum necessary internal force required to resist external forces on two-point-grasped objects in two-dimensional space
Robotica , Vol. 30 , pp. 857-864 (2012)
Satoshi Ito, Kohta Tanaka, Minoru Sasaki