{"_buckets": {"deposit": "9a2b3bd3-7e16-4532-9fa1-3a914ada657f"}, "_deposit": {"id": "12077", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "12077"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00012077", "sets": ["322"]}, "author_link": ["38319", "38320"], "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2009-12-15", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "8199", "bibliographicPageStart": "8192", "bibliographic_titles": [{"bibliographic_title": "Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference (CDC/CCC 2009)", "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 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.", "subitem_description_language": "en", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/13955"}, {"subitem_identifier_type": "DOI", "subitem_identifier_uri": "http://dx.doi.org/10.1109/CDC.2009.5399750"}]}, "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.2009.5399750", "subitem_relation_type_select": "DOI"}}]}, "item_10_rights_12": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "©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.", "subitem_rights_language": "en"}]}, "item_10_select_15": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "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_970fb48d4fbd8a85", "subitem_version_type": "VoR"}]}, "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": "38319", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Hayakawa, Yoshikazu", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "38320", "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", "download_preview_message": "", "file_order": 0, "filename": "2052.pdf", "filesize": [{"value": "678.9 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 678900.0, "url": {"label": "2052.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/12077/files/2052.pdf"}, "version_id": "18daca2c-966c-4b6a-a23a-5a76e63d9ba2"}]}, "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 with 3-dimensional deformation 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 with 3-dimensional deformation based on moment stability", "subitem_title_language": "en"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/13955", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2010-08-04"}, "publish_date": "2010-08-04", "publish_status": "0", "recid": "12077", "relation": {}, "relation_version_is_last": true, "title": ["Stability analysis of grasped object by soft-fingers with 3-dimensional deformation based on moment stability"], "weko_shared_id": -1}