書誌事項
- タイトル別名
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- 1A1-L05 Grasp Planning based on Ellipsoidal and Cylindrical Approximation of grasped objects(Robot Hand Mechanism and Grasping Strategy(1))
抄録
We present a grasp planning that approximates an object by combination of quadric surfaces. This approximation method can automatically represent various objects in daily life. The planner selects ellipsoid and elliptic cylinder surfaces, and generates grasp posture for each surface. Then we present a fast method of evaluating grasp stability for surface contact. This method approximates the friction cone as an ellipsoid so that it can calculate the resultant force/moment space quickly. We performed simulations and verified the effectiveness of our proposed method.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2012 (0), _1A1-L05_1-_1A1-L05_4, 2012
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205939147520
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- NII論文ID
- 110009907327
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- ISSN
- 24243124
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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