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Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets
http://hdl.handle.net/2297/35232
http://hdl.handle.net/2297/35232a6518232-0501-4ccb-b2c9-4634aa0d3949
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-H-338.pdf (1.5 MB)
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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 | Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets | |||||
| 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× Yoshikawa, Tsuneo |
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| 書誌情報 |
Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 号 1, p. 338-343, 発行日 2003-01-01 |
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| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1109/aim.2003.1225118 | |||||
| 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 search optimal grasp points and configurations of fingers for not only resisting an external force applied to a grasped object but also generating a desirable acceleration of the object. Based on the concept of required external force set, we define required acceleration and equilibrium-force sets. By using the sets, we formulate an optimization problem from the viewpoint of decreasing the magnitudes of the joint torques required to generate the required acceleration and equilibrium-force. We also show that we can solve the problem by using a branch-and-bound method. The validity of our approach is shown by numerical examples. | |||||
| 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 | |||||
