Active Force Closure for Multiple Objects

摘要

This article discusses active force closure (AFC) for the manipulation of multiple objects. AFC for multiple objects is defined in such a way that the finger can generate an arbitrary acceleration onto a certain point of multiple objects. We define two kinds of AFC: in the first, an arbitrary acceleration can be generated onto each of the objects; in the second, an arbitrary acceleration can be generated onto the center of mass of multiple objects without changing the relative position of the objects. We show that the grasped object cannot always be manipulated arbitrarily even if the first kind of AFC is satisfied. We also show that the grasped objects are manipulated like a single rigid body if the second kind of AFC is satisfied. To explain these features of AFCs, numerical examples for the grasp of three objects are shown.