{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,14]],"date-time":"2025-03-14T04:22:19Z","timestamp":1741926139491,"version":"3.38.0"},"reference-count":17,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2011,11,1]],"date-time":"2011-11-01T00:00:00Z","timestamp":1320105600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2012,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper considers the magnitude of the gripping power, i.e., the internal force that depends on the grasping posture or object orientation in a two-dimensional grasp by two contact points with friction. Expressing the effect of variations in the object posture as the direction of an external force, we propose an \u201cinternal force diagram.\u201d The internal force necessary to create a statically stable grasp is depicted in the object coordinate frame. Then, a polar coordinate system is introduced in which the orientation represents the direction of the external force, while the distance from the origin represents the minimum necessary internal force. We demonstrate a method based on friction cone configurations to manually draw the internal force diagram, using only a ruler and a compass. The validity of this drawing method is confirmed by a comparison with computer-generated plots. Finally, the characteristics of the internal force diagram are discussed.<\/jats:p>","DOI":"10.1017\/s0263574711001135","type":"journal-article","created":{"date-parts":[[2011,11,1]],"date-time":"2011-11-01T11:53:58Z","timestamp":1320148438000},"page":"857-864","source":"Crossref","is-referenced-by-count":1,"title":["A diagram of the minimum necessary internal force required to resist external forces on two-point-grasped objects in two-dimensional space"],"prefix":"10.1017","volume":"30","author":[{"given":"Satoshi","family":"Ito","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kohta","family":"Tanaka","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minoru","family":"Sasaki","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,11,1]]},"reference":[{"key":"S0263574711001135_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001800"},{"key":"S0263574711001135_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.09.016"},{"key":"S0263574711001135_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.54733"},{"key":"S0263574711001135_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800202"},{"key":"S0263574711001135_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/70.976003"},{"key":"S0263574711001135_ref7","doi-asserted-by":"crossref","unstructured":"7. Watanabe T. and Yoshikawa T. , \u201cOptimization of Grasping by Using a Required External Force Set,\u201d In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2003), (Sep. 14\u201319, 2003) pp. 1127\u20131132.","DOI":"10.1109\/ROBOT.2003.1241744"},{"key":"S0263574711001135_ref14","unstructured":"14. Ito S. , Mizukosi Y. and Sasaki M. , \u201cNumerical Analysis for Optimal Posture of Circular Object Grasped with Frictions,\u201d Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2007)."},{"key":"S0263574711001135_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-009-0331-8"},{"key":"S0263574711001135_ref17","doi-asserted-by":"publisher","DOI":"10.7210\/jrsj.15.728"},{"key":"S0263574711001135_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282047"},{"key":"S0263574711001135_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(96)00001-4"},{"key":"S0263574711001135_ref9","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1109\/70.744611","article-title":"Qualitative test and force optimization of 3-D frictional form-closure grasps using linear programming","volume":"15","author":"Liu","year":"1999","journal-title":"IEEE Trans. Robot. Autom."},{"key":"S0263574711001135_ref16","first-page":"2828","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'94)","author":"Zhang","year":"1994"},{"key":"S0263574711001135_ref4","doi-asserted-by":"crossref","unstructured":"4. Mirtich B. and Canny J. , \u201cEasily Computable Optimum Grasps in 2-D and 3-D,\u201d In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'94), San Diego, CA, USA (May 8\u201313, 1994) pp. 739\u2013747.","DOI":"10.1109\/ROBOT.1994.351399"},{"key":"S0263574711001135_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400402"},{"key":"S0263574711001135_ref1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700301"},{"key":"S0263574711001135_ref6","first-page":"3341","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'98)","author":"Yong","year":"1998"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711001135","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,13]],"date-time":"2025-03-13T14:51:48Z","timestamp":1741877508000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711001135\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,11,1]]},"references-count":17,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2012,9]]}},"alternative-id":["S0263574711001135"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711001135","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2011,11,1]]}}}