{"_buckets": {"deposit": "617f7c30-b8ca-40f8-9c16-7036027c1816"}, "_deposit": {"id": "3821", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "3821"}, "status": "published"}, "_oai": {"id": "oai:niigata-u.repo.nii.ac.jp:00003821", "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 3-D Grasps by a Multifingered Hand with Rolling Contact"}]}, "item_5_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "1999-03", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "631", "bibliographicPageEnd": "1070", "bibliographicPageStart": "1062", "bibliographicVolumeNumber": "65", "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": "This paper discusses stability of 3-D grasp considering rolling contact using potential energy approach. The synthesis of stable grasps is made by three-dimensional virtual spring which is fixed at the center of the fingertip. One spring is parallel to the normal and the others are parallel to the tangent plane at the contact. The kinematics of rolling contact equations (velocity and acceleration) between the object and finger are derived. Then, the stiffness matrix of the grasp is established. The derived stiffness matrix has six terms. The first three terms are due to stiffness of the three virtual springs respectively as well as remaining terms imply rotational stiffness which are influenced by curvatures, initial contact forces and contact position. The inverse problem, which is to determine the spring stiffness from the positive definiteness of stiffness matrix of the grasp system, can be also derived. Finally, some numerical examples are presented to illustrate the nature of the equations.", "subitem_description_type": "Abstract"}]}, "item_5_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "45589", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Yamada, Takayoshi"}]}, {"nameIdentifiers": [{"nameIdentifier": "45590", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Sakurayama, Takeshi"}]}, {"nameIdentifiers": [{"nameIdentifier": "45591", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Saha, Sushanta Kumar"}]}, {"nameIdentifiers": [{"nameIdentifier": "45592", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mimura, Nobuharu"}]}, {"nameIdentifiers": [{"nameIdentifier": "45593", "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/110002384745", "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": "45585", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "桜山, 岳史"}], "nameIdentifiers": [{"nameIdentifier": "45586", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "三村, 亘治"}], "nameIdentifiers": [{"nameIdentifier": "45587", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "舟橋, 康行"}], "nameIdentifiers": [{"nameIdentifier": "45588", "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_0220.pdf", "filesize": [{"value": "592.4 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 592400.0, "url": {"label": "9_0220.pdf", "url": "https://niigata-u.repo.nii.ac.jp/record/3821/files/9_0220.pdf"}, "version_id": "63ca1390-6dc9-456e-a8e9-4eccf172d825"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Grasp Stability", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Rolling Contact", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Cylindrical Object", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Spherical Object", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Virtual Stiffness", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Potential Energy", "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": "転がり接触を考慮した三次元把握の安定性解析", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "転がり接触を考慮した三次元把握の安定性解析"}, {"subitem_title": "転がり接触を考慮した三次元把握の安定性解析", "subitem_title_language": "en"}]}, "item_type_id": "5", "owner": "1", "path": ["454", "425"], "permalink_uri": "http://hdl.handle.net/10191/5922", "pubdate": {"attribute_name": "公開日", "attribute_value": "2008-04-08"}, "publish_date": "2008-04-08", "publish_status": "0", "recid": "3821", "relation": {}, "relation_version_is_last": true, "title": ["転がり接触を考慮した三次元把握の安定性解析"], "weko_shared_id": null}