重力平衡する対象物の転がりによる操り  [in Japanese] Rolling Based Manipulation under Gravitational Equilibrium  [in Japanese]

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Author(s)

Abstract

This paper discusses the manipulation of an object under equilibrium where the object makes rolling contact with the plate attached at the tip of the arm. We assume that the object satisfies the neighborhood equilibrium [1], where an object with rolling contact can automatically find another equilibrium state close to the original one even when the current one is broken due to the change of input. For always guaranteeing the neighborhood equilibrium, we newly define the contact stable region on the object surface. By utilizing the contact stable region, we propose a control scheme for manipulating an object from one to the desired position on a plate whose posture is controllable. Numerical example is also shown to explain our idea.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 20(2), 42-50, 2002-03-15

    The Robotics Society of Japan

References:  20

Codes

  • NII Article ID (NAID)
    10008213046
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    02891824
  • NDL Article ID
    6107706
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  NDL  J-STAGE 
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