WEKO3
アイテム
Analysis and Synthesis of Stable Grasp by Multi-Fingered Robot Hand with Compliance Control
http://hdl.handle.net/2237/14465
http://hdl.handle.net/2237/14465cad6d322-e2dc-49c1-ab70-02b89cecd8b9
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
1032.pdf (1.5 MB)
|
|
| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2011-02-14 | |||||
| タイトル | ||||||
| タイトル | Analysis and Synthesis of Stable Grasp by Multi-Fingered Robot Hand with Compliance Control | |||||
| 言語 | en | |||||
| 著者 |
Nakashima, Akira
× Nakashima, Akira× Yoshimatsu, Yuta× Hayakawa, Yoshikazu |
|||||
| 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 | © 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | In this paper, we deal with an analysis and a synthesis of stable grasp by a multi-fingered robot hand with compliance control. The stability of a grasped object by the fingers with linear elastic stiffness is firstly analyzed. A sufficient condition with the gravity effect is driven with respect to the contact points, the elastic coefficients and the mass of the grasped object. A compliance controller with a disturbance observer using force sensors secondly is proposed. The stability of the controller is proved by the Lyapunov stability theorem. The performance of the controller is verified in experiments. Furthermore, it is verified that the grasp by the compliance controller is stable with the sufficient condition. | |||||
| 言語 | en | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 言語 | en | |||||
| 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 | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1109/CCA.2010.5611152 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 1085-1992 | |||||
| 書誌情報 |
en : IEEE International Conference on Control Applications (CCA) p. 1582-1589, 発行日 2010 |
|||||
| 著者版フラグ | ||||||
| 値 | author | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/14465 | |||||
| 識別子タイプ | HDL | |||||
| URI | ||||||
| 識別子 | http://dx.doi.org/10.1109/CCA.2010.5611152 | |||||
| 識別子タイプ | DOI | |||||
