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

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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.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(2), 42-50, 2002-03-15

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10008213046
  • 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
    6107706
  • 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  NDL  J-STAGE 
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