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  1. B200 工学部/工学研究科
  2. B200e 会議資料
  3. 国際会議

Stability Analysis of Grasped Object by Soft-Fingers based on Moment Stability

http://hdl.handle.net/2237/12099
b719540e-2e06-4fee-b5bd-4a618f83801d
名前 / ファイル ライセンス アクション
CDC2008_final.pdf CDC2008_final.pdf (339.4 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2009-08-26
タイトル
タイトル Stability Analysis of Grasped Object by Soft-Fingers based on Moment Stability
著者 Nakashima, Akira

× Nakashima, Akira

WEKO 31164

Nakashima, Akira

Search repository
Li, Jingtai

× Li, Jingtai

WEKO 31165

Li, Jingtai

Search repository
Hayakawa, Yoshikazu

× Hayakawa, Yoshikazu

WEKO 31166

Hayakawa, Yoshikazu

Search repository
権利
権利情報 Copyright © 2008 IEEE. Reprinted from 47th IEEE Conference on Decision and Control, 2008. CDC 2008. p.4582-4589. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for
creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.
抄録
内容記述 This paper analyze stability of an object grasped by a pair of soft-fingers in two-dimensional space based on moment stability. We firstly define the moment stability as a criterion for stability of a grasped object when the object is perturbed for the orientation. Based on the moment stability, the stability condition of
an object grasped by a pair of hard-fingers is derived. We indicate that contact points to satisfy the condition are restricted to upper locations of the center of mass. Next, the condition of an object grasped by a pair of semispherical soft-fingers thirdly is considered. We derive a sufficient condition for the moment
stability and indicate that the contact points to satisfy the condition can be in both upper and lower locations of the center of mass. Numerical examples finally are shown. An example shows the grasp situation not to satisfy the condition is established by a slender object with far lower contact locations and its grasp is stable for the faults.
内容記述タイプ Abstract
出版者
出版者 IEEE
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
ISSN
収録物識別子タイプ ISSN
収録物識別子 0191-2216
書誌情報 47th IEEE Conference on Decision and Control (CDC 2008)

p. 4582-4589, 発行日 2008-12
フォーマット
application/pdf
著者版フラグ
値 author
URI
識別子 http://dx.doi.org/10.1109/CDC.2008.4739091
識別子タイプ DOI
URI
識別子 http://hdl.handle.net/2237/12099
識別子タイプ HDL
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