Výsledky vyhledávání - "Suguru Arimoto"

Akademický článek

On Control of Reaching Movements for Musculo-Skeletal Redundant Arm Model

Autor: Kenji Tahara, Suguru Arimoto, Masahiro Sekimoto, Zhi-Wei Luo

Publikováno v: Applied Bionics and Biomechanics, Vol 6, Iss 1, Pp 11-26 (2009)

This paper focuses on a dynamic sensory-motor control mechanism of reaching movements for a musculo-skeletal redundant arm model. The formulation of a musculo-skeletal redundant arm system, which takes into account non-linear muscle properties obtain

Externí odkaz: https://doaj.org/article/42d3c6a6644b402098299667fadd3be6

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Akademický článek

A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces

Autor: Suguru Arimoto, Morio Yoshida

Publikováno v: Modelling and Simulation in Engineering, Vol 2011 (2011)

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

Externí odkaz: https://doaj.org/article/9c23c3195ccf4d7cbe96d55165af3366

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Akademický článek

Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes: A Riemannian-Geometry Approach

Autor: Suguru Arimoto, Morio Yoshida

Publikováno v: Journal of Robotics, Vol 2010 (2010)

Modeling, control, and stabilization of dynamics of two-dimensional object grasping by using a pair of multijoint robot fingers are investigated under rolling contact constraints and arbitrariness of the geometry of the object and fingertips. First,

Externí odkaz: https://doaj.org/article/c6521ef2dc3048ebb231229653a3e46e

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Akademický článek

Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity

Autor: Suguru Arimoto, Masahiro Sekimoto, Kenji Tahara

Publikováno v: Journal of Robotics, Vol 2010 (2010)

A robot designed to mimic a human becomes kinematically redundant and its total degrees of freedom becomes larger than the number of physical variables required for describing a given task. Kinematic redundancy may contribute to enhancement of dexter

Externí odkaz: https://doaj.org/article/9a01f6a9f4224096a2b8346c607086c1

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Akademický článek

A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints

Autor: Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara

Publikováno v: Journal of Robotics, Vol 2009 (2009)

A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under holonomic or non-holonomic constraints is presented. First, position/force hybrid control of an endeffector of a multijoint redundant (or nonredundant) r

Externí odkaz: https://doaj.org/article/e8fe6ca71e3146ab9f3700d9ff16bff0

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