摩擦不感型衝突に基づく二次元棒状物体の動的捕獲戦略 Dynamic Capturing Strategy for a 2D Stick-shaped Object based on Friction Independent Collision

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This paper proposes a dynamic capturing strategy where a 2D stick-shaped object with both translational and rotational velocities is completely stopped by two robotic fingers. We first show the fingertip position and the object orientation for generating a desired translational velocity or a desired rotational velocity under friction independent collision. Once the object results in a pure translational motion whose direction is perpendicular to the longitudinal axis of object, it is guaranteed that two fingers can always capture the object irrespective of friction coefficient. By using this nature, we show the friction independent capturing strategies for an object with both translational and rotational motions. The proposed strategies are demonstrated by experiments for verifying our idea.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan

    日本ロボット学会誌 = Journal of Robotics Society of Japan 24(5), 672-681, 2006-07-15

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018009592
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    8039041
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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