{"_buckets": {"deposit": "f306459b-7772-4087-acbe-a0bcbe83cfc4"}, "_deposit": {"id": "18669", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "18669"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00018669", "sets": ["503"]}, "author_link": ["54341", "54342", "54343", "54344", "54345", "54346"], "item_1615789909678": {"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_18_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2010-09", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "676", "bibliographicPageStart": "669", "bibliographic_titles": [{"bibliographic_title": "5th IFAC Symposium on Mechatronic Systems", "bibliographic_titleLang": "en"}]}]}, "item_18_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "This paper proposes a synthesis methodology of stable grasp by a four-fingered robot hand in order to automate preparation for assembling work, which is composed of recognition, grasp and carry of assembling parts. An optimization method of grasping forces, object configuration and contact points is proposed. The criterion of the optimization is appropriate normalized distances from the planes of a constraint polyhedron, which is derived by the friction and joint torque limitations. An experimental result of grasp of a door mirror is shown to verify the effectiveness of the proposed method.", "subitem_description_language": "en", "subitem_description_type": "Abstract"}]}, "item_18_description_5": {"attribute_name": "内容記述", "attribute_value_mlt": [{"subitem_description": "5th IFAC Symposium on Mechatronic Systems, Marriott Boston Cambridge, Cambridge, MA, USA, Sept 13-15, 2010", "subitem_description_language": "en", "subitem_description_type": "Other"}]}, "item_18_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "DOI", "subitem_identifier_uri": "http://dx.doi.org/10.3182/20100913-3-US-2015.00120"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/20765"}]}, "item_18_publisher_32": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "International Federation of Automatic Control (IFAC)", "subitem_publisher_language": "en"}]}, "item_18_relation_11": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "https://doi.org/10.3182/20100913-3-US-2015.00120", "subitem_relation_type_select": "DOI"}}]}, "item_18_relation_8": {"attribute_name": "ISBN", "attribute_value_mlt": [{"subitem_relation_type": "isPartOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "978-3-902661-76-0", "subitem_relation_type_select": "ISBN"}}]}, "item_18_select_15": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "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": "54341", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Uno, Takashi", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54342", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Hayakawa, Yoshikazu", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54343", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Kondo, Toshiyuki", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54344", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Sawada, Shinji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54345", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Nanba, Nobuhiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "54346", "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": "2018-02-21"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "0120.pdf", "filesize": [{"value": "1.3 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 1300000.0, "url": {"label": "0120.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/18669/files/0120.pdf"}, "version_id": "62f22df0-fb83-41f6-82a9-14b2b4acec50"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "handling", "subitem_subject_scheme": "Other"}, {"subitem_subject": "robot control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "stability criteria", "subitem_subject_scheme": "Other"}, {"subitem_subject": "industrial robots", "subitem_subject_scheme": "Other"}, {"subitem_subject": "optimization problems", "subitem_subject_scheme": "Other"}]}, "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": "conference paper", "resourceuri": "http://purl.org/coar/resource_type/c_5794"}]}, "item_title": "Synthesis of Stable Grasp by Four-Fingered Robot Hand for Pick-and-Place of Assembling Parts", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Synthesis of Stable Grasp by Four-Fingered Robot Hand for Pick-and-Place of Assembling Parts", "subitem_title_language": "en"}]}, "item_type_id": "18", "owner": "1", "path": ["503"], "permalink_uri": "http://hdl.handle.net/2237/20765", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2014-11-11"}, "publish_date": "2014-11-11", "publish_status": "0", "recid": "18669", "relation": {}, "relation_version_is_last": true, "title": ["Synthesis of Stable Grasp by Four-Fingered Robot Hand for Pick-and-Place of Assembling Parts"], "weko_shared_id": -1}