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Dynamic Control of Soft-finger Hands for Pivoting an Object in Contact with the Environment
http://hdl.handle.net/2297/35234
http://hdl.handle.net/2297/3523441760e68-d65e-4357-b00f-7c4d6062bdcf
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-324.pdf (433.6 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 Soft-finger Hands for Pivoting an Object in Contact with the Environment | |||||
| 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 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 号 1, p. 324-329, 発行日 2000-01-01 |
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| DOI | ||||||
| 関連タイプ | isIdenticalTo | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1109/iros.2000.894626 | |||||
| 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 soft-finger 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. Different from the conventional manipulation of the object by only fingers, 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 fingers is smaller than the conventional manipulation of the object by only fingers. In this paper, taking this characteristics of the reaction force into consideration, we propose a dynamic control method for pivoting. To verify our approach, the simulation result is also presented. | |||||
| 権利 | ||||||
| 権利情報 | 2000 (c) IEEE | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
