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Towards Whole Arm Manipulation by Contact State Transition
http://hdl.handle.net/2297/35228
http://hdl.handle.net/2297/35228a111d447-49b9-429d-8bdc-0a733334297e
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-5682.pdf (592.7 kB)
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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 | Towards Whole Arm Manipulation by Contact State Transition | |||||
| 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 |
Watanabe, Tetsuyou
× Watanabe, Tetsuyou× Harada, Kensuke× Yoshikawa, Tsuneo× Jiang, Zhongwei |
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| 書誌情報 |
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 巻 2006, 号 4059338, p. 5682-5687, 発行日 2006-01-01 |
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| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 142440259X | |||||
| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-142440259-5 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/IROS.2006.282370 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper discusses the whole arm manipulation allowing the contact state transition. For manipulation of an object under fully constrained, the contact state transition becomes necessary. In order to realize the object manipulation, we first derive the feasible direction of the object manipulation by analyzing the active/passive closure properties for every combination of contact states. Second, we derive the set of joint torque to move the object in the feasible direction. These analyses also provide the joint torque to realize the manipulation at the planned contact states. Effectiveness of the proposed method is confirmed by some simulation results. © 2006 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 | |||||
