WEKO3
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二次元平面内の任意形状物体の把握の安定性
http://hdl.handle.net/10191/5836
http://hdl.handle.net/10191/583628720d4b-131e-41c6-94d6-cb3b2b99d676
名前 / ファイル | ライセンス | アクション |
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9_0134.pdf (432.6 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2008-04-08 | |||||
タイトル | ||||||
タイトル | 二次元平面内の任意形状物体の把握の安定性 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | 二次元平面内の任意形状物体の把握の安定性 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Grasp Stability | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Arbitrary Shaped Object | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Curvature | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Virtual Stiffness | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Potential Energy | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
その他のタイトル | ||||||
その他のタイトル | Stability analysis of grasping an arbitrary shaped planar object | |||||
著者 |
山田, 貴孝
× 山田, 貴孝× 三村, 宣治× 舟橋, 康行 |
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著者別名 | ||||||
識別子 | 45641 | |||||
識別子Scheme | WEKO | |||||
姓名 | Yamada, Takayoshi | |||||
著者別名 | ||||||
識別子 | 45642 | |||||
識別子Scheme | WEKO | |||||
姓名 | Mimura, Nobuharu | |||||
著者別名 | ||||||
識別子 | 45643 | |||||
識別子Scheme | WEKO | |||||
姓名 | Funahashi, Yasuyuki | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper addresses a new concept of constructing stable grasps of arbitrary planar object. We consider the manipulation of arbitrary objects by a multifingered hand, where the contact type is object rolls without finger slipping on the object surface. The synthesis of stable grasps is constructed by virtual springs at the frictional contact point. Each finger has a two directional virtual spring whose stiffness is known but compression is unknown. We explore the positive definiteness of the stiffness matrix of the grasp system from the view point of potential energy. It is shown that the stability is greatly influenced by spring stiffness, position and curvature of fingers, object curvature, and initial grasping forces. | |||||
書誌情報 |
日本機械学会論文集. C編 en : 日本機械学会論文集. C編 巻 64, 号 621, p. 1736-1742, 発行日 1998-05 |
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出版者 | ||||||
出版者 | 日本機械学会 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 03875024 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00187463 | |||||
権利 | ||||||
権利情報 | 日本機械学会 | |||||
権利 | ||||||
権利情報 | 本文データは学会の許諾に基づくCiNiiからの複製である | |||||
著者版フラグ | ||||||
値 | publisher | |||||
異版である | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | URI | |||||
関連識別子 | http://ci.nii.ac.jp/naid/110002383746 |