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Scale-Dependent Grasp
https://hiroshima.repo.nii.ac.jp/records/2007024
https://hiroshima.repo.nii.ac.jp/records/200702432e168bd-c269-40d6-938e-d74a68432581
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
IEEE_TSMC_A_SH_30_6_806-816_2000.pdf (332.3 KB)
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| Item type | デフォルトアイテムタイプ_（フル）(1) | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2023-03-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Scale-Dependent Grasp | |||||||||||
| 言語 | en | |||||||||||
| 作成者 |
Kaneko, Makoto
× Kaneko, Makoto
× Shirai, Tatsuya
× Tsuji, Toshio
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| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 権利情報 | ||||||||||||
| 権利情報 | Copyright (c) 2000 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Grasping strategy | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | multifingered robot hand | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | scale-dependent grasp | |||||||||||
| 主題 | ||||||||||||
| 主題Scheme | NDC | |||||||||||
| 主題 | 530 | |||||||||||
| 内容記述 | ||||||||||||
| 内容記述 | This paper discusses the scale-dependent grasp.Suppose that a human approaches an object initially placed on atable and finally achieves an enveloping grasp. Under such initialand final conditions, he (or she) unconsciously changes the graspstrategy according to the size of objects, even though they havesimilar geometry. We call the grasp planning the scale-dependentgrasp. We find that grasp patterns are also changed according tothe surface friction and the geometry of cross section in additionto the scale of object. Focusing on column objects, we first classifythe grasp patterns and extract the essential motions so that we canconstruct grasp strategies applicable to multifingered robot hands.The grasp strategies constructed for robot hands are verified byexperiments. We also consider how a robot hand can recognizethe failure mode and how it can switch from one to another. | |||||||||||
| 言語 | en | |||||||||||
| 出版者 | ||||||||||||
| 出版者 | IEEE | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||
| 資源タイプ | journal article | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 関連情報 | ||||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | 10.1109/3468.895903 | |||||||||||
| 関連情報 | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | http://dx.doi.org/10.1109/3468.895903 | |||||||||||
| 収録物識別子 | ||||||||||||
| 収録物識別子タイプ | ISSN | |||||||||||
| 収録物識別子 | 1083-4427 | |||||||||||
| 開始ページ | ||||||||||||
| 開始ページ | 806 | |||||||||||
| 書誌情報 |
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans 巻 30, 号 6, p. 806-816, 発行日 2000 |
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| 旧ID | 14197 | |||||||||||
