書誌事項
- タイトル別名
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- Quasi-static Analysis of Contact Forces in Robotic Manipulation
- —A New Formulation and Its Application to Evaluating Robustness of Graspless Manipulation—
- —定式化とそのグラスプレス・マニピュレーションのロバスト性評価への応用—
説明
In this paper, an analysis of contact forces in quasi-static manipulation under rigid-body mechanics is studied. To evaluate the contact forces, we introduce a modified version of constraint on friction forces, which was originally derived for statics of power grasps by Omata et al. Furthermore, using the constraint, we also present a robustness measure for quasi-static graspless manipulation such as pushing and tumbling. The measure evaluates how much the object can resist external disturbances without changing its motion. We can calculate the measure approximately by solving linear programming problems. We show some numerical examples to prove that our proposed method can evaluate robustness of graspless manipulation more accurately than previous methods, and experimentally verify the calculation results.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 31 (10), 1009-1018, 2013
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204729832960
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- NII論文ID
- 130003396216
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
