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Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect
http://hdl.handle.net/2237/20768
http://hdl.handle.net/2237/20768b1a9e8f9-f0fd-4812-b73f-577bb615caee
名前 / ファイル | ライセンス | アクション |
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3234.pdf (960.7 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2014-11-11 | |||||
タイトル | ||||||
タイトル | Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect | |||||
言語 | en | |||||
著者 |
Nakashima, Akira
× Nakashima, Akira× Hayakawa, Yoshikazu |
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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 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | robotics | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | handling | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | robot control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | springs | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | stability analysis | |||||
抄録 | ||||||
内容記述 | In this paper, we deal with the stability analysis of an object grasped by fingers with linear stiffness in the case where the gravity effect is considered. The stability of the grasp is defined based on the potential energy of the grasp. The analysis problem is formulated as finding a condition of the stiffness parameters and contact points for the position of the center of gravity (COG) to exist such that the grasp is stable. A necessary and sufficient condition is derived on assumptions with respect to the stiffness and contact points. Furthermore, on the derived condition, the position of the COG is characterized with respect to the stiffness and contact points. It is especially indicated that the grasp can be stable with any position of the COG. Numerical examples are shown to prove the effectiveness of the analysis. | |||||
言語 | en | |||||
内容記述タイプ | Abstract | |||||
内容記述 | ||||||
内容記述 | the 18th World Congress The International Federation of Automatic Control, Milano (Italy), August 28 - September 2, 2011 | |||||
言語 | en | |||||
内容記述タイプ | Other | |||||
出版者 | ||||||
言語 | en | |||||
出版者 | International Federation of Automatic Control (IFAC) | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_5794 | |||||
タイプ | conference paper | |||||
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/10.3182/20110828-6-IT-1002.03234 | |||||
ISBN | ||||||
関連タイプ | isPartOf | |||||
識別子タイプ | ISBN | |||||
関連識別子 | 978-3-902661-93-7 | |||||
ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 1474-6670 | |||||
書誌情報 |
en : Proceedings of the 18th IFAC World Congress, 2011 p. 14667-14674, 発行日 2011-09 |
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著者版フラグ | ||||||
値 | publisher | |||||
URI | ||||||
識別子 | http://dx.doi.org/10.3182/20110828-6-IT-1002.03234 | |||||
識別子タイプ | DOI | |||||
URI | ||||||
識別子 | http://hdl.handle.net/2237/20768 | |||||
識別子タイプ | HDL |