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2021-06-18T13:36:42+09:00
2021-06-18T13:36:42+09:00
2021-06-18T13:36:42+09:00
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Ritsumeikan Univ.KO-343
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(OBJECT MANIPULATION BY A PAIR OF ROBOT FINGERS FROM THE BIO-)Tj
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(This thesis consists of four parts all of which are concerned with reali\
zing stable grasping and orientation)Tj
-1 -1.5 Td
(control of an object by a pair of multi-DOF robot fingers from the bio-m\
imetic viewpoint. The first part)Tj
0 -1.5 TD
(proposes a guideline for tuning sensory feedback gains used in realizing\
stable grasping and orientation)Tj
T*
(control of the object by taking into account the well-known force/veloci\
ty characteristics of human muscle in)Tj
T*
(muscle physiology. The second part shows that ill-posedness of inverse k\
inematics can be resolved by using a)Tj
T*
(sensory feedback method and also surplus DOF enhances dexterity of pinch\
ing tasks by accelerating)Tj
T*
(considerably the speed of convergence. The third part shows that dexteri\
ty is enhanced remarkably by using)Tj
T*
(the proposed method based on mimicking the functional role of each human\
finger joint. Finally, the fourth)Tj
T*
(part presents the experimental results on the methods proposed in the fi\
rst and third parts by building and)Tj
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(using actual robot fingers.)Tj
ET
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