書誌事項
- タイトル別名
-
- Dynamic Multi-Fingered Manipulability for Articulated Hands and its Extension to a Design Index for Master-Slave Hands
- ドウテキ タシ カ ソウサセイ ノ テイアン ト マスタ スレーブハンド セッケイ シヒョウ エ ノ カクチョウ
この論文をさがす
抄録
In this paper, we extend the concept of dynamic manipulability measure to that for multi-fingered hands and propose a dynamic multi-fingered manipulability (DMM) measure. Unlike the conventional dynamic manipulability measure, the proposed measure considers internal forces and the dynamics of a grasped object. Specifying constant internal force components, we obtained a one-to-one relation from a joint torque to an object acceleration. The proposed measure is further extended to a measure for master-slave hands as a design index. Based on the new design indices, some two-fingered master-slave hand designs with different joint configurations are evaluated and an optimal link length is determined.
収録刊行物
-
- 日本ロボット学会誌
-
日本ロボット学会誌 22 (2), 264-272, 2004
一般社団法人 日本ロボット学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390001204725246080
-
- NII論文ID
- 10012680948
-
- NII書誌ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
-
- NDL書誌ID
- 6886493
-
- 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