書誌事項
- タイトル別名
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- Stability Evaluation of Soft-finger Grasp Considering the Contact Surface
- セッショクメン オ コウリョ シタ ソフトフィンガガタ ハジ ノ アンテイセイ ヒョウカ
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This paper discusses the grasp stability under gravity where each finger makes soft-finger contact with an object. By using the intersection of polygon models between a finger and an object, the contact area between a finger and an object is obtained. Then, by assuming the Winkler elastic foundation model, the pressure distribution within the contact area is obtained. By using this pressure distribution, we determine the grasp stability under soft-finger contact. We further consider defining a quality measure of the soft-finger grasp by assuming that, while the gravitational force is applied to an object, the direction of gravity is unknown. To demonstrate the effectiveness of the proposed approach, we show several numerical examples. Finally, we show an experimental results on identification of physical parameters of elastic material attached at the finger surface.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 51 (2), 83-91, 2015
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390282679485491584
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- NII論文ID
- 130004855729
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 026100081
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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
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可