@article{oai:niigata-u.repo.nii.ac.jp:00003768,
 author = {山田, 貴孝 and 大場, 利紀 and 山本, 智哉 and 三村, 宣治 and 舟橋, 康行},
 issue = {714},
 journal = {日本機械学会論文集. C編, 日本機械学会論文集. C編},
 month = {Feb},
 note = {This paper analyzes grasp stability of two objects in two dimensions. In the previous researches on the grasp stability, the number of grasped objects is restricted to one. For efficiency of tasks, multiple objects had better been grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects must be quantitatively evaluated. In case of two grasped objects in two dimensions, the number of parameters of object displacement is six. However, the displacement of the objects is constrained by each other, because the contact between the objects must be maintained. Independent parameters of the object displacement are provided and then finger displacement is derived. The grasp stability is evaluated from the viewpoint of the potential energy method. From numerical examples, the effect of curvature at contact point between two objects is demonstrated. The effect of this curvature stands for the feature of multiple objects.},
 pages = {478--485},
 title = {二次元二物体把握系の安定性解析（機械力学,計測,自動制御）},
 volume = {72},
 year = {2006}
}