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  1. 060 工学部
  2. 10 学術雑誌論文
  3. 10 査読済論文
  1. 0 資料タイプ別
  2. 01 学術雑誌論文

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)

http://hdl.handle.net/10191/5932
http://hdl.handle.net/10191/5932
a7302801-c92d-4e5f-afee-243997be9ccd
名前 / ファイル ライセンス アクション
9_0230.pdf 9_0230.pdf (619.6 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2008-04-08
タイトル
タイトル 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)
タイトル
言語 en
タイトル 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)
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 Multiple Objects
キーワード
主題Scheme Other
主題 Rolling Contact
キーワード
主題Scheme Other
主題 Sliding Contact
キーワード
主題Scheme Other
主題 Multifingered Robot Hand
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 Grasp Stability Analysis of Two Objects in Two Dimensions
著者 山田, 貴孝

× 山田, 貴孝

WEKO 45240

山田, 貴孝

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大場, 利紀

× 大場, 利紀

WEKO 45241

大場, 利紀

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山本, 智哉

× 山本, 智哉

WEKO 45242

山本, 智哉

Search repository
三村, 宣治

× 三村, 宣治

WEKO 45243

三村, 宣治

Search repository
舟橋, 康行

× 舟橋, 康行

WEKO 45244

舟橋, 康行

Search repository
著者別名
識別子 45245
識別子Scheme WEKO
姓名 Yamada, Takayoshi
著者別名
識別子 45246
識別子Scheme WEKO
姓名 Ooba, Toshinori
著者別名
識別子 45247
識別子Scheme WEKO
姓名 Yamamoto, Tomoya
著者別名
識別子 45248
識別子Scheme WEKO
姓名 Mimura, Nobuharu
著者別名
識別子 45249
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 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.
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 72, 号 714, p. 478-485, 発行日 2006-02
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 / 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/110004659177
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