WEKO3
インデックスリンク
アイテム
Grasp input optimization taking contact position and object information uncertainties into consideration
http://hdl.handle.net/2297/35244
http://hdl.handle.net/2297/35244c3ae3fd8-33dc-4214-812a-9582694f310a
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-1170.pdf (795.6 kB)
|
|
| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-10-03 | |||||
| タイトル | ||||||
| タイトル | Grasp input optimization taking contact position and object information uncertainties into consideration | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 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 |
Fungtammasan, Papat
× Fungtammasan, Papat× Watanabe, Tetsuyou |
|||||
| 書誌情報 |
IEEE Transactions on robotics 巻 28, 号 5, p. 1170-1177, 発行日 2012-01-01 |
|||||
| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1552-3098 | |||||
| NCID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AA1196840X | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/TRO.2012.2197310 | |||||
| 出版者 | ||||||
| 出版者 | IEEE Robotics and Automation Society / IEEE Institute of Electrical and Electronics Engineers | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents a novel approach for grasp optimization considering contact position and object information uncertainties. In practice, it is hard to grasp an object at the designated or planned contact positions, as errors in measurement, estimation, and control usually exist. Therefore, we first formulate the influences of contact uncertainties on joint torques, contact wrenches, and frictional condition. We then include external wrench uncertainties in the required external wrenches set. Based on this formulation, we define the linear grasp optimization problem for two kinds of frictional contact modelsfrictional point contact and soft finger contactso that we can successfully grasp an object even if deviations in contact point, object weight, and center of mass occur. The validity of our approach is shown by means of numerical examples and the result of experiments. © 2004-2012 IEEE. | |||||
| 著者版フラグ | ||||||
| 出版タイプ | AM | |||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
| シリーズ | ||||||
| 関連名称 | art. no. 6220275 | |||||
