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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/10191/5836
28720d4b-131e-41c6-94d6-cb3b2b99d676
名前 / ファイル ライセンス アクション
9_0134.pdf 9_0134.pdf (432.6 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

WEKO 45638

山田, 貴孝

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三村, 宣治

× 三村, 宣治

WEKO 45639

三村, 宣治

Search repository
舟橋, 康行

× 舟橋, 康行

WEKO 45640

舟橋, 康行

Search repository
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
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
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