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ID 14199
本文ファイル
著者
Harada, Kensuke
Kaneko, Makoto
キーワード
Manipulation
multiple objects
rolling contact
NDC
機械工学
抄録(英)
This paper discusses the manipulation of multiple objects under rolling contacts. For manipulating multiple objects, the following two key issues do not arise in the manipulation of a single object: 1) each object's motion is restricted by the other objects and 2) the contact force among objects is not controlled directly. As for 1), we first formulate the motion constraint for the whole grasp system, and then provide a necessary condition for manipulating multiple objects uniquely. As for 2), we provide a condition for determining the contact forces among objects uniquely. We further show a sufficient condition for manipulating multiple objects within the object motion constraint. Under this sufficient condition, we propose a control scheme for object motion by taking the motion constraint into account. Simulation and experimental results are provided to confirm our idea.
掲載誌名
IEEE Transactions on Robotics and Automation
16巻
5号
開始ページ
457
終了ページ
468
出版年月日
2000
出版者
IEEE
ISSN
1042-296X
出版者DOI
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
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.
関連情報URL
部局名
工学研究科