2010 Fiscal Year Final Research Report
Static Stability Analysis of Multiple Objects Grasped by Multifingered Hands for Dexterous Manipulation
| Project/Area Number |
20560237
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Gifu University |
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Principal Investigator |
YAMADA Takayoshi Gifu University, 工学部, 准教授 (00273318)
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| Co-Investigator(Kenkyū-buntansha) |
MIZUNO Naoki 名古屋工業大学, 工学研究科, 教授 (30135404)
山田 学 (YAMADA 学) 名古屋工業大学, 工学研究科, 准教授 (40242903)
大羽 達志 (OOBA 達志) 名古屋工業大学, 工学研究科, 助教 (90233254)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 多指ロボットハンド / 複数対象物 / 把持の安定性 / 剛性行列 |
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| Research Abstract |
Aiming at dexterous manipulation by multi-fingered hands, we have analyzed static grasp stability of multiple objects. Our proposed method derives a stiffness matrix of every finger by considering frictional rolling contact constraints at contact point and frictionless sliding contact constraints. Hence, our method is able to evaluate coexistence grasps including both frictional contacts and frictionless contacts. Because grasp stiffness matrices have been derived analytically, the effect of grasp parameters to the stability is explicitly evaluated.
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