{"_buckets": {"deposit": "f7e59dc4-26b6-4718-aae6-d4c582af1811"}, "_deposit": {"id": "3829", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "3829"}, "status": "published"}, "_oai": {"id": "oai:niigata-u.repo.nii.ac.jp:00003829", "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 grasping an arbitrary shaped planar object"}]}, "item_5_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "1998-05", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "621", "bibliographicPageEnd": "1742", "bibliographicPageStart": "1736", "bibliographicVolumeNumber": "64", "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 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.", "subitem_description_type": "Abstract"}]}, "item_5_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "45641", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Yamada, Takayoshi"}]}, {"nameIdentifiers": [{"nameIdentifier": "45642", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Mimura, Nobuharu"}]}, {"nameIdentifiers": [{"nameIdentifier": "45643", "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/110002383746", "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": "45638", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "三村, 宣治"}], "nameIdentifiers": [{"nameIdentifier": "45639", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "舟橋, 康行"}], "nameIdentifiers": [{"nameIdentifier": "45640", "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_0134.pdf", "filesize": [{"value": "432.6 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 432600.0, "url": {"label": "9_0134.pdf", "url": "https://niigata-u.repo.nii.ac.jp/record/3829/files/9_0134.pdf"}, "version_id": "e883244f-09be-4202-8818-039c094ffaba"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Grasp Stability", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Arbitrary Shaped Object", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Curvature", "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": "二次元平面内の任意形状物体の把握の安定性", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "二次元平面内の任意形状物体の把握の安定性"}, {"subitem_title": "二次元平面内の任意形状物体の把握の安定性", "subitem_title_language": "en"}]}, "item_type_id": "5", "owner": "1", "path": ["454", "425"], "permalink_uri": "http://hdl.handle.net/10191/5836", "pubdate": {"attribute_name": "公開日", "attribute_value": "2008-04-08"}, "publish_date": "2008-04-08", "publish_status": "0", "recid": "3829", "relation": {}, "relation_version_is_last": true, "title": ["二次元平面内の任意形状物体の把握の安定性"], "weko_shared_id": null}