{"created":"2023-07-27T06:50:51.093489+00:00","id":43992,"links":{},"metadata":{"_buckets":{"deposit":"7bc845f5-09dd-4a2d-8efb-afc582268553"},"_deposit":{"created_by":18,"id":"43992","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"43992"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00043992","sets":["934:935:936"]},"author_link":["72900","73100","71731","13080","72899","10618","10619","73104"],"item_4_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"K22","bibliographicPageEnd":"830","bibliographicPageStart":"829","bibliographicVolumeNumber":"2006 Spring","bibliographic_titles":[{"bibliographic_title":"精密工学会学術講演会講演論文集"},{"bibliographic_title":"2006 JSPE Spring Meeting","bibliographic_titleLang":"en"}]}]},"item_4_creator_33":{"attribute_name":"著者別表示","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Mizuno, Hitoshi"}],"nameIdentifiers":[{"nameIdentifier":"73104","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kamiya, Yoshitsugu"}],"nameIdentifiers":[{"nameIdentifier":"10618","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"80092774","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=80092774"},{"nameIdentifier":"80092774","nameIdentifierScheme":"研究者番号","nameIdentifierURI":"https://nrid.nii.ac.jp/nrid/1000080092774"}]},{"creatorNames":[{"creatorName":"Seki, Hiroaki"}],"nameIdentifiers":[{"nameIdentifier":"71731","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"20270887","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=20270887"}]},{"creatorNames":[{"creatorName":"Hikizu, Masatoshi"}],"nameIdentifiers":[{"nameIdentifier":"10619","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"10272949","nameIdentifierScheme":"金沢大学研究者情報","nameIdentifierURI":"http://ridb.kanazawa-u.ac.jp/public/detail.php?kaken=10272949"},{"nameIdentifier":"10272949","nameIdentifierScheme":"研究者番号","nameIdentifierURI":"https://nrid.nii.ac.jp/nrid/1000010272949"}]}]},"item_4_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"人間は5本の指を用い,多様な物体を把握し操ることができる.しかし,ロボットハンドにおいてこれを実現することは非常に困難であり,これまでに多くの研究が行われてきたがハンドの把握制御の手法は一般には確立されていない.そこで本研究は,2自由度3指ハンドを対象として対象物の安定把握を行うための前提となる,各指が対象物に与える力の関係を導出する.またシステムの安定性の指標となるロバスト性の評価法を提案する. 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