書誌事項
- タイトル別名
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- Delicate Object Grasping by Robotic Hands with Incompressible Fluid Fingers
- ヒアッシュクセイ リュウタイ ユビ カラ ナル ロボットハンド ニ ヨル コワレ ヤスイ タイショウブツ ノ ハジ
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抄録
This paper presents novel schema for grasping very brittle objects. For the purpose, we develop robotic hand equipped with fingers filled with incompressible fluid; gel. The features of the fingers are uniform contact pressure distribution and controllability of the pressure. It is useful for controlling contact pressure such that it does not over fracture stress. The two fingers are attached on every contact area of the robotic hand, which realizes stable grasp from the viewpoint of passive form closure. We also present grasping strategies for grasping brittle and ductile objects, respectively, and their validities are shown by experiments.
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 (8), 747-754, 2013
一般社団法人 日本ロボット学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282679704435712
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- NII論文ID
- 10031201181
- 120005478667
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 024937885
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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
- IRDB
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可