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Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations
https://uec.repo.nii.ac.jp/records/9079
https://uec.repo.nii.ac.jp/records/907943922a46-1632-4c4f-bd64-113631edeba9
名前 / ファイル | ライセンス | アクション |
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TRO_2019_edited_finalVer (1.8 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-04-05 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Articulated mobile robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | task-space control | |||||
キーワード | ||||||
言語 | en | |||||
主題 | mobile manipulation | |||||
キーワード | ||||||
言語 | en | |||||
主題 | redundancy | |||||
キーワード | ||||||
言語 | en | |||||
主題 | jamming transition | |||||
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 | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Tadakuma, Kenjiro× Nakajima, Mizuki× Fujita, Masahiro |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | A task-space method is presented for the control of a head-raising articulated mobile robot, allowing the trajectory tracking of a tip of a gripper located on the head of the robot in various operations, e.g., picking up an object and rotating a valve. If the robot cannot continue moving because it reaches a joint angle limit, the robot moves away from the joint limit and changes posture by switching the allocation of lifted/grounded wheels. An articulated mobile robot with a gripper that can grasp objects using jamming transition was developed, and experiments were conducted to demonstrate the effectiveness of the proposed controller in operations. | |||||
書誌情報 |
en : IEEE Transactions on Robotics 巻 35, 号 1, p. 135-146, 発行日 2019-02 |
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出版者 | ||||||
出版者 | IEEE (Institute of Electrical and Electronics Engineers) | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1552-3098 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TRO.2018.2878361 | |||||
権利 | ||||||
権利情報 | (C) 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TRO.2018.2878361 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |