PRI (PALM ROTATION INDICATOR): A METRIC FOR POSTURAL STABILITY IN DYNAMIC NONPREHENSILE MANIPULATION
Keywords:palm rotation indicator, metric for postural stability, dynamic nonprehensile manipulation
AbstractIn 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.
DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS