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非圧縮性流体指からなるロボットハンドによる壊れやすい対象物の把持
http://hdl.handle.net/2297/40508
http://hdl.handle.net/2297/405086e5dd0e2-ef84-47dc-a444-c3966c831db8
名前 / ファイル | ライセンス | アクション |
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TE-PR-WATANABE-T-747.pdf (5.1 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2017-10-03 | |||||
タイトル | ||||||
タイトル | 非圧縮性流体指からなるロボットハンドによる壊れやすい対象物の把持 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Delicate Object Grasping by Robotic Hands with Incompressible Fluid Fingers | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
内田, 真裕
× 内田, 真裕× 渡辺, 哲陽× 丸山, 量志 |
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書誌情報 |
日本ロボット学会誌 = Journal of the Robotics Society of Japan 巻 31, 号 8, p. 747-754, 発行日 2013-01-01 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0289-1824 | |||||
NCID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.7210/jrsj.31.747 | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 = The Robotics Society of Japan | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper presents novel schema for grasping very brittle objects. For the purpose, we develop robotic hand equipped with fingers filled with incompressible fluid; gel. The features of the fingers are uniform contact pressure distribution and controllability of the pressure. It is useful for controlling contact pressure such that it does not over fracture stress. The two fingers are attached on every contact area of the robotic hand, which realizes stable grasp from the viewpoint of passive form closure. We also present grasping strategies for grasping brittle and ductile objects, respectively, and their validities are shown by experiments. | |||||
権利 | ||||||
権利情報 | Copyright © 2010 日本ロボット学会 The Robotics Society of Japan | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.rsj.or.jp/ | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.jstage.jst.go.jp/browse/jrsj/-char/ja/ |