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Dynamic Control of Multifingered Hands for Pivoting Operation
http://hdl.handle.net/2297/35235
http://hdl.handle.net/2297/35235c37f6647-a593-4c14-91a3-b75dc3911fc0
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-1260.pdf (386.2 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 | Dynamic Control of Multifingered Hands for Pivoting Operation | |||||
| 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, Tetsuyoh
× Watanabe, Tetsuyoh× Yoshikawa, Tsuneo |
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| 書誌情報 |
Proceedings of the International Symposium on Robotics (ISR) 号 2001, p. 1260-1265, 発行日 2001-01-01 |
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| 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 propose a dynamic control method of multi ngered hands for pivoting an object in contact with the environment. This pivoting operation is often observed when a human moves a large or heavy object such as furniture on the oor. Di erent from the conventional manipulation of the object by only ngers, the characteristics of the pivoting operation is that we can use the reaction force from the environment. By using this reaction force, we can expect the magnitude of the forces applied to the object by the ngers is smaller than the conventional manipulation of the object by only ngers. In this paper, taking this characteristics of the reaction force into consideration, we propose a dynamic control method for pivoting. To verify our approach, simulation results are also presented. | |||||
| 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 | |||||
