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Object Manipulation under Hybrid Active/Passive Closure
http://hdl.handle.net/2297/35229
http://hdl.handle.net/2297/3522996235e7e-d7bb-4b5e-8ab3-0b2bc0ea25c7
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-1025.pdf (316.1 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 | Object Manipulation under Hybrid Active/Passive Closure | |||||
| 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× Jiang, Zhongwei× Yoshikawa, Tsuneo |
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| 書誌情報 |
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 巻 2005, 号 1570249, p. 1025-1032, 発行日 2005-01-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1050-4729 | |||||
| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 078038914X | |||||
| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-078038914-4 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/ROBOT.2005.1570249 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | In this paper, we discuss the manipulation of an object under hybrid active/passive closure. We show the orthogonality between the directions of active and passive force closures for general grasping systems. Based on the orthogonality, we decompose the dynamics of grasping system into the "active part" and the "passive part". By using the decomposition, we show that the grasped object can be manipulated only by considering the dynamics of the active part. We also consider how to determine the desired internal forces in order to satisfy frictional constraints during the manipulation. In order to verify the validity of our approach, some simulation results are shown. | |||||
| 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 | |||||
