2A1-E12 On the relation between object posture and contact forces in 2D grasping
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- ITO Satoshi
- Gifu University:RIKEN
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- Mizukoshi Yuuki
- Gifu University
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- Sasaki Minoru
- Gifu University
Bibliographic Information
- Other Title
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- 2A1-E12 2次元平面の把持における物体姿勢と接触力の関係について(ロボットハンドの機構と把握戦略)
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Description
In this paper, we consider which posture of grasped object is best when we grasp it by pinching with friction. Up to now, we have analyzed this issue for circular object in the 2D grasping with two fingers. Here, we consider the grasping of rectangular object. As case of the circular object, we obtained a similar conclusion that the optimal posture is determined by the two friction cones at the two contact points.
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2007 (0), _2A1-E12_1-_2A1-E12_2, 2007
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390282680912499968
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- NII Article ID
- 110008695391
- 120006340947
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- NII Book ID
- AA11902933
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- ISSN
- 24243124
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- HANDLE
- 20.500.12099/39967
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- Text Lang
- ja
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- Article Type
- journal article
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- Data Source
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- JaLC
- IRDB
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed