{"created":"2023-07-27T06:25:37.306673+00:00","id":8992,"links":{},"metadata":{"_buckets":{"deposit":"e34ff907-9738-4238-a333-7bfaca30c50e"},"_deposit":{"created_by":3,"id":"8992","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"8992"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00008992","sets":["934:935:936"]},"author_link":["12780","9863"],"item_4_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2003-01-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"343","bibliographicPageStart":"338","bibliographic_titles":[{"bibliographic_title":"Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)"}]}]},"item_4_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Abstract"}]},"item_4_publisher_17":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE"}]},"item_4_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/aim.2003.1225118","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":[{},{},{},{}]},{"creatorNames":[{"creatorName":"Yoshikawa, Tsuneo"}],"nameIdentifiers":[{}]}]},"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-H-338.pdf","filesize":[{"value":"1.5 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"TE-PR-WATANABE-H-338.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/8992/files/TE-PR-WATANABE-H-338.pdf"},"version_id":"6d388e7f-5de7-4bfc-a47e-0cade90d460e"}]},"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":"Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets"}]},"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":"8992","relation_version_is_last":true,"title":["Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-07-27T11:17:45.021234+00:00"}