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- W2584451015 abstract "We discuss cylinder insertion into a hole of a flexible rubber plate, which is an example of research the robot assembly industry requires for dealing with flexible parts using human-like skills. We show that the magnitude of insertion force expresses a hyperbolic field in three-dimensional space composed of position and posture of a cylinder. The hyperbolic field has a tunneling path from which can obtain local minimum insertion force. This path appears to correspond to the position and posture of cylinder insertion using human skill. We propose a search for the tunneling path that uses a simple regression model that fits the hyperbolic field to a narrow zone. The fitting zone shifts as cylinder insertion advances. Results show that regression is a possible search method for the tunneling path." @default.
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- W2584451015 date "1998-06-20" @default.
- W2584451015 modified "2023-09-23" @default.
- W2584451015 title "Cylinder Insertion into Hole of Flexible Rubber Plate - Path Search for Local Minimum Insertion Force by Shifting Fitted Zone Regression -" @default.
- W2584451015 doi "https://doi.org/10.20965/jrm.1998.p0197" @default.
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