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- W2316249114 abstract "This paper shows that a secure grasping of an object using a soft-fingered robotic hand is. easily achieved by adopting a two-dimensional soft finger model, which is evolved from an elastic force model derived in our previous study. After described the formulating process of the two-dimensional model, we derive normal and tangential constraints that appear during manipulating motions of the minimum d. o. f. two-fingered hand. Next, we formulate the Lagrangian and equations of motion of the hand system dealt in this paper. Then, we present a constraint stabilization method (CSM) dealing with holonomic and nonholonomic constraints, which is an effective tool to conduct the numerical simulation of a mechanical system with constraints. Finally, we validate the numerical algorithm and show the effect of secure grasping by evaluating the simulation results." @default.
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- W2316249114 date "2007-01-01" @default.
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- W2316249114 title "Secure Grasping Effect of Soft-fingered Manipulating Motions with Minimum D. O. F. Robotic Hand" @default.
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- W2316249114 doi "https://doi.org/10.9746/ve.sicetr1965.43.135" @default.
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