Abstract
In quasi-static manipulation, such as graspless manipulation, contact forces are different according to the situation whether a manipulated object is stationary or moving. This paper presents quasi-static analysis of contact forces in graspless manipulation, as improvement of our previous study on robustness measure of graspless manipulation. Our previous analysis uses a modified constraint on static friction, which is originally derived by Omata et al. in static analysis for power grasps. However, when we adapt the constraint to quasi-statics, considering quasi-static motion of objects, particularly sliding contact points and kinetic friction, is not appropriate. Thus, we improve our quasi-static analysis method, and evaluate robustness of graspless manipulation more accurately than our previous work.
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