Matches in SemOpenAlex for { <https://semopenalex.org/work/W1967851904> ?p ?o ?g. }
Showing items 1 to 75 of
75
with 100 items per page.
- W1967851904 endingPage "8" @default.
- W1967851904 startingPage "1" @default.
- W1967851904 abstract "A computable model of grasping and manipulation of a 3D rigid object with arbitrary smooth surfaces by multiple robot fingers with smooth fingertip surfaces is derived under rolling contact constraints between surfaces. Geometrical conditions of pure rolling contacts are described through the moving-frame coordinates at each rolling contact point under the postulates: (1) two surfaces share a common single contact point without any mutual penetration and a common tangent plane at the contact point and (2) each path length of running of the contact point on the robot fingertip surface and the object surface is equal. It is shown that a set of Euler-Lagrange equations of motion of the fingers-object system can be derived by introducing Lagrange multipliers corresponding to geometric conditions of contacts. A set of 1st-order differential equations governing rotational motions of each fingertip and the object and updating arc-length parameters should be accompanied with the Euler-Lagrange equations. Further more, nonholonomic constraints arising from twisting between the two normal axes to each tangent plane are rewritten into a set of Frenet-Serre equations with a geometrically given normal curvature and a motion-induced geodesic curvature." @default.
- W1967851904 created "2016-06-24" @default.
- W1967851904 creator A5010910465 @default.
- W1967851904 creator A5078849747 @default.
- W1967851904 date "2011-01-01" @default.
- W1967851904 modified "2023-09-25" @default.
- W1967851904 title "A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces" @default.
- W1967851904 cites W2017444601 @default.
- W1967851904 cites W2025842362 @default.
- W1967851904 cites W2027856092 @default.
- W1967851904 cites W2055302917 @default.
- W1967851904 cites W2055410881 @default.
- W1967851904 cites W2071989136 @default.
- W1967851904 cites W2163645408 @default.
- W1967851904 doi "https://doi.org/10.1155/2011/684034" @default.
- W1967851904 hasPublicationYear "2011" @default.
- W1967851904 type Work @default.
- W1967851904 sameAs 1967851904 @default.
- W1967851904 citedByCount "2" @default.
- W1967851904 countsByYear W19678519042014 @default.
- W1967851904 crossrefType "journal-article" @default.
- W1967851904 hasAuthorship W1967851904A5010910465 @default.
- W1967851904 hasAuthorship W1967851904A5078849747 @default.
- W1967851904 hasBestOaLocation W19678519041 @default.
- W1967851904 hasConcept C134306372 @default.
- W1967851904 hasConcept C138187205 @default.
- W1967851904 hasConcept C138632511 @default.
- W1967851904 hasConcept C146160929 @default.
- W1967851904 hasConcept C154945302 @default.
- W1967851904 hasConcept C162546045 @default.
- W1967851904 hasConcept C165818556 @default.
- W1967851904 hasConcept C195065555 @default.
- W1967851904 hasConcept C19966478 @default.
- W1967851904 hasConcept C2524010 @default.
- W1967851904 hasConcept C2776799497 @default.
- W1967851904 hasConcept C28719098 @default.
- W1967851904 hasConcept C33923547 @default.
- W1967851904 hasConcept C41008148 @default.
- W1967851904 hasConcept C90509273 @default.
- W1967851904 hasConceptScore W1967851904C134306372 @default.
- W1967851904 hasConceptScore W1967851904C138187205 @default.
- W1967851904 hasConceptScore W1967851904C138632511 @default.
- W1967851904 hasConceptScore W1967851904C146160929 @default.
- W1967851904 hasConceptScore W1967851904C154945302 @default.
- W1967851904 hasConceptScore W1967851904C162546045 @default.
- W1967851904 hasConceptScore W1967851904C165818556 @default.
- W1967851904 hasConceptScore W1967851904C195065555 @default.
- W1967851904 hasConceptScore W1967851904C19966478 @default.
- W1967851904 hasConceptScore W1967851904C2524010 @default.
- W1967851904 hasConceptScore W1967851904C2776799497 @default.
- W1967851904 hasConceptScore W1967851904C28719098 @default.
- W1967851904 hasConceptScore W1967851904C33923547 @default.
- W1967851904 hasConceptScore W1967851904C41008148 @default.
- W1967851904 hasConceptScore W1967851904C90509273 @default.
- W1967851904 hasLocation W19678519041 @default.
- W1967851904 hasLocation W19678519042 @default.
- W1967851904 hasOpenAccess W1967851904 @default.
- W1967851904 hasPrimaryLocation W19678519041 @default.
- W1967851904 hasRelatedWork W171862644 @default.
- W1967851904 hasRelatedWork W2018002758 @default.
- W1967851904 hasRelatedWork W2043268301 @default.
- W1967851904 hasRelatedWork W2913094340 @default.
- W1967851904 hasRelatedWork W2968161779 @default.
- W1967851904 hasRelatedWork W3168099119 @default.
- W1967851904 hasRelatedWork W3214410636 @default.
- W1967851904 hasRelatedWork W3214964530 @default.
- W1967851904 hasRelatedWork W4251185228 @default.
- W1967851904 hasRelatedWork W4283581576 @default.
- W1967851904 hasVolume "2011" @default.
- W1967851904 isParatext "false" @default.
- W1967851904 isRetracted "false" @default.
- W1967851904 magId "1967851904" @default.
- W1967851904 workType "article" @default.