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PRI (Palm Rotation Indicator): a metric for postural stability in dynamic nonprehensile manipulation [electronic resource]
Beigzadeh, B. (Borhan) ; Sharif University of Technology
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- Type of Document: Article
- DOI: 10.5755/j01.mech.18.4.2324
- Abstract:
- In this study, we discuss the postural stability of a nonprehensile manipulation problem, which deals with multibody objects. As a metric for postural stability, we define PRI. Then, the system is posturally stable, if PRI is inside the convex hull of the object-manipulator contact surface. We then discuss that dynamic biped locomotion is a special case of dynamic nonprehensile manipulation in all aspects; we prove that ZMP (zero-moment point) and FRI (zoot rotation indicator) are special cases of PRI (palm rotation indicator). Simulations and experiments corresponding to simple examples support the results
- Keywords:
- Palm rotation indicator ; Metric for postural stability ; Dynamic nonprehensile manipulation
- Source: Journal of MECHANIKA ; 2012, Vol. 18, No. 4, pp. 461-466
- URL: http://www.mechanika.ktu.lt/index.php/Mech/article/view/2324