複数対象物のＡｃｔｉｖｅ　Ｆｏｒｃｅ　Ｃｌｏｓｕｒｅ

• 原田 研介

  広島大学工学部

• 金子 真

  広島大学工学部

• 古寺 晃二

  広島大学工学部

• 辻 敏夫

  広島大学工学部

書誌事項

タイトル別名

• Active Force Closure for Multiple Objects.
• フクスウ タイショウブツ ノ Active Force Closure

抄録

In this paper, we discuss the active force closure (AFC) for multiple objects. We define two kinds of AFCs, i.e., the first kind of AFC where the finger can exert an arbitrary acceleration to each one of the multiple objects, and the second kind of AFC where the finger can exert an arbitrary acceleration to multiple objects without changing the relative position of each object. We show that the grasped object cannot always be manipulated arbitrarily even if the first kind of AFC is satisfied. On the other hand, since the second kind of AFC is a stronger condition than the first kind of AFC, the grasped objects are manipulated just like a single rigid body if the second kind AFC is satisfied. To show these features of AFCs for multiple objects, some examples are shown.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (8), 1158-1166, 1999

  一般社団法人 日本ロボット学会

キーワード

• Multi-fingered Hand
• Multiple Objects
• Manipulation
• Force Closure

詳細情報

• CRID: 1390282679703884032
• NII論文ID: 10004734708
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.1158
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4912399
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4912399
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可