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Variable-grasping-mode underactuated soft gripper with environmental contact-based operation
http://hdl.handle.net/2297/46899
http://hdl.handle.net/2297/46899f335b80b-d1f4-4d6e-ab9e-9d1d6182929b
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-1164.pdf (2.6 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 | Variable-grasping-mode underactuated soft gripper with environmental contact-based 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 |
Nishimura, Toshihiro
× Nishimura, Toshihiro× Mizushima, Kaori× Suzuki, Yosuke× Tsuji, Tokuo× Watanabe, Tetsuyou |
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| 書誌情報 |
IEEE Robotics and Automation Letters 巻 2, 号 2, p. 1164-1171, 発行日 2017-01-31 |
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| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | 10.1109/LRA.2017.2662086 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | A novel robotic gripper with soft surfaces and underactuated joints was proposed. The soft surface was fabricated from a deformable rubber bag filled with incompressible fluid and a microgripper inside the fluid. A ratchet was installed at the underactuated joint so that the joint's rotation caused by contact with an environment, such as a supporting surface, can be preserved, and the actions of scooping and enveloping an object are realized. With one actuator, the gripper realized three modes, i.e., parallel gripper, pinching, and enveloping. The range of graspable objects was wide and included soft, rigid, deformable, fragile, small (boundary length less than 30 mm), large (more than 80 mm long), thin (less than 0.5 mm), and heavy (more than 3 kg) objects. | |||||
| 内容記述 | ||||||
| 内容記述タイプ | Other | |||||
| 内容記述 | INSPEC Accession Number: 16712514 | |||||
| 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 | |||||
| 関連URI | ||||||
| 識別子タイプ | URI | |||||
| 関連識別子 | http://ieeexplore.ieee.org/document/7837674/ | |||||
