{"_buckets": {"deposit": "fefafbac-e9c1-4f40-9377-529b5194c5f7"}, "_deposit": {"id": "3786", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "3786"}, "status": "published"}, "_oai": {"id": "oai:niigata-u.repo.nii.ac.jp:00003786", "sets": ["454", "425"]}, "item_5_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Stability Analysis of 3D Grasps by a Multifingered Robot Hand"}]}, "item_5_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2003-03", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "679", "bibliographicPageEnd": "690", "bibliographicPageStart": "683", "bibliographicVolumeNumber": "69", "bibliographic_titles": [{"bibliographic_title": "日本機械学会論文集. C編"}, {"bibliographic_title": "日本機械学会論文集. C編", "bibliographic_titleLang": "en"}]}]}, "item_5_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "In this paper, we discuss stability of 3 D grasps by using a three-dimensional spring model (3D spring model). Many works described stability of frictionless grasp. These works used a one-dimensional spring model (1 D spring model) for representation of frictionless contact as a matter of course. However, 1 D spring model involves the following two problems. (i) Displacement of finger is restricted to one dimension along the initial normal at contact point. (ii) It is not clearly considered that a finger generates contact force to the object along the normal direction only. To overcome the problems and provide accurate grasp stability, we introduce 3 D spring model. Then finger\u0027s displacement is relaxed and finger\u0027s contact force is precisely formulated. We analyze grasp stability from the viewpoint of the potential energy method. From numerical examples, we show that there exists an optimum contact force for stable grasp. Moreover, we also analyze frictional grasp by using contact kinematics of twist-rolling. By comparing frictional grasp stability with frictionless one, we prove that friction enhances stability of grasp.", "subitem_description_type": "Abstract"}]}, "item_5_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "45369", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Yamada, Takayoshi"}]}, {"nameIdentifiers": [{"nameIdentifier": "45370", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Koishikura, Tarou"}]}, {"nameIdentifiers": [{"nameIdentifier": "45371", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mizuno, Yuto"}]}, {"nameIdentifiers": [{"nameIdentifier": "45372", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mimura, Nobuharu"}]}, {"nameIdentifiers": [{"nameIdentifier": "45373", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Funahashi, Yasuyuki"}]}]}, "item_5_publisher_7": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本機械学会"}]}, "item_5_relation_31": {"attribute_name": "異版である", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "http://ci.nii.ac.jp/naid/110002378909", "subitem_relation_type_select": "URI"}}]}, "item_5_rights_15": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "日本機械学会"}, {"subitem_rights": "本文データは学会の許諾に基づくCiNiiからの複製である"}]}, "item_5_select_19": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_5_source_id_11": {"attribute_name": "書誌レコードID", "attribute_value_mlt": [{"subitem_source_identifier": "AN00187463", "subitem_source_identifier_type": "NCID"}]}, "item_5_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "03875024", "subitem_source_identifier_type": "ISSN"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "山田, 貴孝"}], "nameIdentifiers": [{"nameIdentifier": "45364", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "小石倉, 太郎"}], "nameIdentifiers": [{"nameIdentifier": "45365", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "水野, 雄登"}], "nameIdentifiers": [{"nameIdentifier": "45366", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "三村, 宣治"}], "nameIdentifiers": [{"nameIdentifier": "45367", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "舟橋, 康行"}], "nameIdentifiers": [{"nameIdentifier": "45368", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2019-07-30"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "9_0228.pdf", "filesize": [{"value": "685.3 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 685300.0, "url": {"label": "9_0228.pdf", "url": "https://niigata-u.repo.nii.ac.jp/record/3786/files/9_0228.pdf"}, "version_id": "3aaebd75-b385-4950-8cd6-485d269b7cf7"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Grasp Stability", "subitem_subject_scheme": "Other"}, {"subitem_subject": "3D Spring Model", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Frictionless Grasp", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Frictional Grasp", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "三次元多指ロボットハンド把握系の安定性解析", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "三次元多指ロボットハンド把握系の安定性解析"}, {"subitem_title": "三次元多指ロボットハンド把握系の安定性解析", "subitem_title_language": "en"}]}, "item_type_id": "5", "owner": "1", "path": ["454", "425"], "permalink_uri": "http://hdl.handle.net/10191/5930", "pubdate": {"attribute_name": "公開日", "attribute_value": "2008-04-08"}, "publish_date": "2008-04-08", "publish_status": "0", "recid": "3786", "relation": {}, "relation_version_is_last": true, "title": ["三次元多指ロボットハンド把握系の安定性解析"], "weko_shared_id": null}