N. Brook et al., CONTROLLABILITY OF GRASPS AND MANIPULATIONS IN MULTIFINGERED HANDS, IEEE transactions on robotics and automation, 14(1), 1998, pp. 185-192
Manipulation of objects utilizing gravity and using general equilibriu
m grasps, which are not necessarily force-closure, is discussed. Exami
ning the controllability of the object's dynamics, in the presense of
gravity, leads to the conclusion that almost all equilibrium grasps ar
e locally controllable. This fact is used to show that manipulation fr
om any one equilibrium point, to any other, is possible if there is a
continuity of equilibrium points between them. In addition, the equili
brium grasps can be used for changing grasps with Walking Finger Manip
ulation. The system controllability matrix is also used to test grasp
quality, depending not only on kinematic values but also on object ori
entation and dynamic properties.