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  1. B200 工学部/工学研究科
  2. B200e 会議資料
  3. 国際会議

Stability Analysis of Multi-Fingered Grasp under Destabilizing Gravity Effect

http://hdl.handle.net/2237/20768
b1a9e8f9-f0fd-4812-b73f-577bb615caee
名前 / ファイル ライセンス アクション
3234.pdf 3234.pdf (960.7 kB)
Item type 会議発表論文 / Conference Paper(1)
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

WEKO 54354

Nakashima, Akira

Search repository
Hayakawa, Yoshikazu

× Hayakawa, Yoshikazu

WEKO 54355

Hayakawa, Yoshikazu

Search repository
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.
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
内容記述タイプ Other
出版者
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
ISBN
関連識別子
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 ISSN
収録物識別子 1474-6670
書誌情報 Proceedings of the 18th IFAC World Congress, 2011

p. 14667-14674, 発行日 2011-09
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
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