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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

Analysis and Synthesis of Stable Grasp by Multi-Fingered Robot Hand with Compliance Control

http://hdl.handle.net/2237/14465
http://hdl.handle.net/2237/14465
cad6d322-e2dc-49c1-ab70-02b89cecd8b9
名前 / ファイル ライセンス アクション
1032.pdf 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

WEKO 39579

en Nakashima, Akira

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Yoshimatsu, Yuta

× Yoshimatsu, Yuta

WEKO 39580

en Yoshimatsu, Yuta

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Hayakawa, Yoshikazu

× Hayakawa, Yoshikazu

WEKO 39581

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 © 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 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
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 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
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