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図書 |
図書
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edited by Tetsuyou Watanabe, Kensuke Harada, Mitsunori Tada
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論文
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Watanabe, Tetsuyou ; Harada, Kensuke ; Yoshikawa, Tsuneo ; Jiang, Zhongwei
概要:
This paper discusses the whole arm manipulation allowing the contact state transition. For manipulation of an object und
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er fully constrained, the contact state transition becomes necessary. In order to realize the object manipulation, we first derive the feasible direction of the object manipulation by analyzing the active/passive closure properties for every combination of contact states. Second, we derive the set of joint torque to move the object in the feasible direction. These analyses also provide the joint torque to realize the manipulation at the planned contact states. Effectiveness of the proposed method is confirmed by some simulation results. © 2006 IEEE.
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論文 |
論文
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Watanabe, Tetsuyou ; Harada, Kensuke ; Jiang, Zhongwei ; Yoshikawa, Tsuneo
概要:
In this paper, we discuss the manipulation of an object under hybrid active/passive closure. We show the orthogonality between the directions of active and passive force closures for general grasping systems. Based on the
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orthogonality, we decompose the dynamics of grasping system into the "active part" and the "passive part". By using the decomposition, we show that the grasped object can be manipulated only by considering the dynamics of the active part. We also consider how to determine the desired internal forces in order to satisfy frictional constraints during the manipulation. In order to verify the validity of our approach, some simulation results are shown.
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論文 |
論文
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Fujihira, Yoshinori ; Harada, Kensuke ; Tsuji, Tokuo ; Watanabe, Tetsuyou
概要:
In this study, we experimentally investigated the effect of robot fingertip stiffness on the maximum resistible force. T
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he maximum resistible force is defined as the maximum tangential force at which the fingertip can maintain contact when applying and increasing tangential/shearing force. We include in the definition of this term the effect of fingertip deformation. In contrast to our previous study [11], cylindrical fingertips with flat surfaces were used in this study so that the contact area would remain the same when there was no tangential/shearing force. This made it possible to see the effect of fingertip stiffness more clearly. We also investigated the effect of curvature of the contact surface, which was not investigated in depth in [11]. The main findings are as follows. 1) Harder fingertips produce larger resistible forces, irrespective of the shape of the contact surface (flat or curved). 2) For harder fingertips, the maximum resistible force depends largely on the shape of the contact surface, while for softer fingertips, the shape has little effect. 3) For softer fingertips, the magnitude of the resistible force changes little even when the normal force increases. © 2015 IEEE.
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論文 |
論文
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Fujihira, Yoshinori ; Harada, Kensuke ; Tsuji, Tokuo ; Watanabe, Tetsuyou
概要:
In this study, we experimentally investigated the effect of robot fingertip stiffness on the maximum resistible force. T
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he maximum resistible force is defined as the maximum tangential force at which the fingertip can maintain contact when applying and increasing tangential/shearing force. We include in the definition of this term the effect of fingertip deformation. In contrast to our previous study [11], cylindrical fingertips with flat surfaces were used in this study so that the contact area would remain the same when there was no tangential/shearing force. This made it possible to see the effect of fingertip stiffness more clearly. We also investigated the effect of curvature of the contact surface, which was not investigated in depth in [11]. The main findings are as follows. 1) Harder fingertips produce larger resistible forces, irrespective of the shape of the contact surface (flat or curved). 2) For harder fingertips, the maximum resistible force depends largely on the shape of the contact surface, while for softer fingertips, the shape has little effect. 3) For softer fingertips, the magnitude of the resistible force changes little even when the normal force increases. © 2015 IEEE.<br />2015 IEEE International Conference on Robotics and Automation, ICRA 2015; Washington State Convention CenterSeattle; United States; 26 May 2015 through 30 May 2015; Category numberCFP15RAA-ART; Code 113196
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Harada ; Harada, Kensuke ; Tada, Mitsunori
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