@inproceedings{oai:nagoya.repo.nii.ac.jp:00018672,
 author = {Nakashima, Akira and Hayakawa, Yoshikazu},
 book = {Proceedings of the 18th IFAC World Congress, 2011},
 month = {Sep},
 note = {In this paper, we deal with the stability analysis of an object grasped by fingers with linear stiffness in the case where the gravity effect is considered. The stability of the grasp is defined based on the potential energy of the grasp. The analysis problem is formulated as finding a condition of the stiffness parameters and contact points for the position of the center of gravity (COG) to exist such that the grasp is stable. A necessary and sufficient condition is derived on assumptions with respect to the stiffness and contact points. Furthermore, on the derived condition, the position of the COG is characterized with respect to the stiffness and contact points. It is especially indicated that the grasp can be stable with any position of the COG. Numerical examples are shown to prove the effectiveness of the analysis., the 18th World Congress The International Federation of Automatic Control, Milano (Italy), August 28 - September 2, 2011},
 pages = {14667--14674},
 publisher = {International Federation of Automatic Control (IFAC)},
 title = {Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect},
 year = {2011}
}