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Softness Effects on Manipulability and Grasp Stability
http://hdl.handle.net/2297/35218
http://hdl.handle.net/2297/352189f92b96d-c2d2-492b-a440-bfdeec0d9ad6
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-1398.pdf (657.9 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 | Softness Effects on Manipulability and Grasp Stability | |||||
| 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 |
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| 書誌情報 |
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 巻 2011, 号 6048247, p. 1398-1404, 発行日 2011-01-01 |
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| ISBN | ||||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 978-161284454-1 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/IROS.2011.6048247 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents a novel analysis for the effects of softness at the fingertip on the manipulability and stability of grasping. The stability for grasping can be regarded that how much magnitude of external wrench we can balance. We formulate manipulability and the set of generable object wrenches for grasping system, taking deformation of the fingertips into consideration, and show that the increase of the softness decreases the manipulability while it increases generable object wrench. The validity of our analysis is shown by numerical examples. © 2011 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 | |||||
