{"created":"2023-07-27T06:25:36.113298+00:00","id":8967,"links":{},"metadata":{"_buckets":{"deposit":"657d1117-74ee-4e62-b955-fe66d879b9d9"},"_deposit":{"created_by":3,"id":"8967","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"8967"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00008967","sets":["934:935:936"]},"author_link":["9863"],"item_4_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-01-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"art. no. 5651352","bibliographicPageEnd":"603","bibliographicPageStart":"598","bibliographicVolumeNumber":"2010","bibliographic_titles":[{"bibliographic_title":"Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)"}]}]},"item_4_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper presents new manipulability measures to evaluate how much easily the robot manipulates the grasped object, simultaneously taking how much magnitude of joint torque we need to keep grasping into consideration. For the purpose, we use operation range. The operation range is for actuator attached to every joint of robot and provides generable joint torque and velocity and their relation (between generating torque/velocity and addable velocity/torque). While we introduced a manipulability measure using the operation range in our previous paper, it was for a limited class due to large computational effort and we could not evaluate whole space of object velocity and could not consider whole space of external wrench. This paper proposes new manipulability measures which can evaluate whole space of object velocity, taking the effect of external wrench in whole space into consideration. ©2010 IEEE.","subitem_description_type":"Abstract"}]},"item_4_publisher_17":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE"}]},"item_4_relation_10":{"attribute_name":"ISBN","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"978-142446675-7","subitem_relation_type_select":"ISBN"}}]},"item_4_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.1109/IROS.2010.5651352","subitem_relation_type_select":"DOI"}}]},"item_4_version_type_25":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Watanabe, Tetsuyou"}],"nameIdentifiers":[{"nameIdentifier":"9863","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"80363125","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://kaken.nii.ac.jp/ja/search/?qm=80363125"},{"nameIdentifier":"80363125","nameIdentifierScheme":"金沢大学研究者情報","nameIdentifierURI":"http://ridb.kanazawa-u.ac.jp/public/detail.php?kaken=80363125"},{"nameIdentifier":"80363125","nameIdentifierScheme":"研究者番号","nameIdentifierURI":"https://nrid.nii.ac.jp/nrid/1000080363125"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-10-03"}],"displaytype":"detail","filename":"TE-PR-WATANABE-T-593.pdf","filesize":[{"value":"434.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"TE-PR-WATANABE-T-593.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/8967/files/TE-PR-WATANABE-T-593.pdf"},"version_id":"833b2af0-ff79-4912-9324-c650eb6f567a"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"Manipulability Measures taking Necessary Joint Torques for Grasping into consideration","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Manipulability Measures taking Necessary Joint Torques for Grasping into consideration"}]},"item_type_id":"4","owner":"3","path":["936"],"pubdate":{"attribute_name":"公開日","attribute_value":"2017-10-03"},"publish_date":"2017-10-03","publish_status":"0","recid":"8967","relation_version_is_last":true,"title":["Manipulability Measures taking Necessary Joint Torques for Grasping into consideration"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2024-06-20T06:29:20.874840+00:00"}