{"created":"2021-03-01T06:17:05.727560+00:00","id":10279,"links":{},"metadata":{"_buckets":{"deposit":"072bc452-39f3-46c1-83ba-3100ab5ebd22"},"_deposit":{"id":"10279","owners":[],"pid":{"revision_id":0,"type":"depid","value":"10279"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00010279","sets":["320:502:503"]},"author_link":["31164","31165","31166"],"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-12","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"4589","bibliographicPageStart":"4582","bibliographic_titles":[{"bibliographic_title":"47th IEEE Conference on　Decision and Control (CDC 2008)","bibliographic_titleLang":"en"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10_identifier_60":{"attribute_name":"URI","attribute_value_mlt":[{"subitem_identifier_type":"DOI","subitem_identifier_uri":"http://dx.doi.org/10.1109/CDC.2008.4739091"},{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/2237/12099"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE","subitem_publisher_language":"en"}]},"item_10_relation_11":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/CDC.2008.4739091","subitem_relation_type_select":"DOI"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"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 <br/>creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.","subitem_rights_language":"en"}]},"item_10_select_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"author"}]},"item_10_source_id_7":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0191-2216","subitem_source_identifier_type":"PISSN"}]},"item_10_text_14":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_text_value":"application/pdf"}]},"item_1615787544753":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Nakashima, Akira","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"31164","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Li, Jingtai","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"31165","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Hayakawa, Yoshikazu","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"31166","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":"2018-02-20"}],"displaytype":"detail","filename":"CDC2008_final.pdf","filesize":[{"value":"339.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"CDC2008_final.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/10279/files/CDC2008_final.pdf"},"version_id":"02289476-af11-4e66-bfe5-c9d652a9c7de"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"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":"Stability Analysis of Grasped Object by Soft-Fingers based on Moment Stability","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Stability Analysis of Grasped Object by Soft-Fingers based on Moment Stability","subitem_title_language":"en"}]},"item_type_id":"10","owner":"1","path":["503"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2009-08-26"},"publish_date":"2009-08-26","publish_status":"0","recid":"10279","relation_version_is_last":true,"title":["Stability Analysis of Grasped Object by Soft-Fingers based on Moment Stability"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T03:56:14.100176+00:00"}