接触状態に基づく薄板状物体のマニピュレーション表現

• 若松 栄史

• 松村 卓美

• 白瀬 敬一

• 荒井 栄司

書誌事項

タイトル別名

• Representation of Thin Object Manipulation Based on Contact State.
• セッショク ジョウタイ ニ モトヅク ハクバンジョウ ブッタイ ノ マニピュレーション ヒョウゲン

抄録

A representation of thin object manipulation is proposed. First, the contact state between a thin object and an environmental surface in the two-dimensional space is represented qualitatively as 23 contact patterns. We can also represent the contact state of a thin object with multiple environmental surfaces by combining those patterns. Secondly, the contact pattern transition is defined. Thin object manipulation can represented as a network whose nodes mean contact patterns and whose arcs mean pattern transitions. Thirdly, the contactable region of the object for pattern transition is introduced. We can change the contact state if we make manipulators contact with that region. Finally, some examples show that our proposed method will be useful for the planning of the manipulation or the derivation of task strategies.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 66 (647), 2192-2199, 2000

  一般社団法人 日本機械学会

キーワード

• Modeling
• Computer-Aided Analysis
• Operation Planning
• Manipulation
• Deformable objects

詳細情報

• CRID: 1390001206329083904
• NII論文ID: 130004233681
• NII論文ID: 110002383183
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.66.2192
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 5416435
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5416435
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/66/647/66_647_2192/_pdf
• 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