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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Stability analysis of grasped object by soft-fingers with 3-dimensional deformation based on moment stability

http://hdl.handle.net/2237/13955
http://hdl.handle.net/2237/13955
a7fe15bf-faff-4e01-af1d-d23634b70d50
名前 / ファイル ライセンス アクション
2052.pdf 2052.pdf (678.9 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2010-08-04
タイトル
タイトル Stability analysis of grasped object by soft-fingers with 3-dimensional deformation based on moment stability
言語 en
著者 Nakashima, Akira

× Nakashima, Akira

WEKO 38319

en Nakashima, Akira

Search repository
Hayakawa, Yoshikazu

× Hayakawa, Yoshikazu

WEKO 38320

en Hayakawa, Yoshikazu

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 en
権利情報 ©2009 IEEE. 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 to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
抄録
内容記述 This paper analyze stability of an object grasped by soft-fingers in 3-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. In detail, the moment stability means that the grasping force can be the restoring force when the object is perturbed. Based on the moment stability, the stability condition of an object grasped by hard-fingers is derived. We indicate that contact points to satisfy the condition are restricted to upper locations of the center of mass and the class of the object shape is only a kind of hollow objects. Next, the condition of an object grasped by semispherical soft-fingers thirdly is considered. Two-fingered grasp by soft-fingers can satisfy the force-closure which is traditional major criterion for static grasp. The consideration shows a novel result that two-fingered grasp can satisfy the moment stability with only two fingers while the hard-fingers need at least three numbers for the force-closure and can not satisfy the moment stability. On the other hand, it is indicated that the torsion moments do not effect on the moment stability well and it is necessary to add the third finger in a condition of the contact points. Numerical examples finally are shown.
言語 en
内容記述タイプ Abstract
出版者
言語 en
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
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1109/CDC.2009.5399750
ISSN
収録物識別子タイプ PISSN
収録物識別子 0191-2216
書誌情報 en : Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference (CDC/CCC 2009)

p. 8192-8199, 発行日 2009-12-15
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13955
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/CDC.2009.5399750
識別子タイプ DOI
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