@inproceedings{oai:nagoya.repo.nii.ac.jp:00018669,
 author = {Nakashima, Akira and Uno, Takashi and Hayakawa, Yoshikazu and Kondo, Toshiyuki and Sawada, Shinji and Nanba, Nobuhiro},
 book = {5th IFAC Symposium on Mechatronic Systems},
 month = {Sep},
 note = {This paper proposes a synthesis methodology of stable grasp by a four-fingered robot hand in order to automate preparation for assembling work, which is composed of recognition, grasp and carry of assembling parts. An optimization method of grasping forces, object configuration and contact points is proposed. The criterion of the optimization is appropriate normalized distances from the planes of a constraint polyhedron, which is derived by the friction and joint torque limitations. An experimental result of grasp of a door mirror is shown to verify the effectiveness of the proposed method., 5th IFAC Symposium on Mechatronic Systems, Marriott Boston Cambridge, Cambridge, MA, USA, Sept 13-15, 2010},
 pages = {669--676},
 publisher = {International Federation of Automatic Control (IFAC)},
 title = {Synthesis of Stable Grasp by Four-Fingered Robot Hand for Pick-and-Place of Assembling Parts},
 year = {2010}
}