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Bent Sheet Grasping Stability for Sheet Manipulation
http://hdl.handle.net/2297/46068
http://hdl.handle.net/2297/4606832b80e55-43cc-4a9d-aa2f-a8da9de37b33
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-WATANABE-T-415.pdf (4.6 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 | Bent Sheet Grasping Stability for Sheet Manipulation | |||||
| 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 |
Fujihira, Yoshinori
× Fujihira, Yoshinori× Nishimura, Toshihiro× Watanabe, Tetsuyou |
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| 書誌情報 |
IEEE Robotics and Automation Letters 巻 1, 号 1, p. 415-422, 発行日 2016-01-26 |
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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.2016.2522091 | |||||
| 出版者 | ||||||
| 出版者 | Institute of Electrical and Electronics Engineers Inc. | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | In this study, we focused on sheet manipulation with robotic hands. This manipulation involves grasping the sides of the sheet and utilizing the convex area resulting from bending the sheet. This sheet manipulation requires the development of a model of a bent sheet grasped with fingertips. We investigated the relationship between the grasping force and bending of the sheet and developed a bent sheet model. We also performed experiments on the sheet grasping stability with a focus on the resistible force, which is defined as the maximum external force at which a fingertip can maintain contact when applying an external force. The main findings and contributions are as follows. 1) After the sheet buckles, the grasping force only increases slightly even if the fingertip pressure is increased. 2) The range of the applicable grasping forces depends on the stiffness of the fingertips. Stiffer fingertips cannot provide a small grasping force but can resist large external forces. Softer fingertips can provide a small grasping force but cannot resist large external forces. 3) A grasping strategy for sheet manipulation is presented that is based on controlling the stiffness of the fingertips. | |||||
| 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 | |||||
| シリーズ | ||||||
| 関連名称 | INSPEC Accession Number: 15813610 | |||||
