A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. B...A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.展开更多
The Englsih word education comes from two Latin words: "ex" means "out of" and "ducere" is "to lead. " Thus, education is a process of "leading out" NOT "putting ...The Englsih word education comes from two Latin words: "ex" means "out of" and "ducere" is "to lead. " Thus, education is a process of "leading out" NOT "putting in. " The traditional method of lecturing is still wide spread. In a lecture, the teacher is active and the students are passive. This is much like a brewery where beer is being bottled. The worker is active, filling the emp-展开更多
What actually happens when we read? Some people think thatwe read one word at a time, understand it and then go on to thenext. Other people think that our eyes smoothly glide over each linefrom left to right. then bac...What actually happens when we read? Some people think thatwe read one word at a time, understand it and then go on to thenext. Other people think that our eyes smoothly glide over each linefrom left to right. then back to the beginning of the next line, andso on. In fact, the physical process of reading usually doesn’twork in either of those ways.展开更多
基金This work was supported in part by the Grant-in-Aid for Exploratory Research of the JSPS (No. 16656085).
文摘A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.
文摘The Englsih word education comes from two Latin words: "ex" means "out of" and "ducere" is "to lead. " Thus, education is a process of "leading out" NOT "putting in. " The traditional method of lecturing is still wide spread. In a lecture, the teacher is active and the students are passive. This is much like a brewery where beer is being bottled. The worker is active, filling the emp-
文摘What actually happens when we read? Some people think thatwe read one word at a time, understand it and then go on to thenext. Other people think that our eyes smoothly glide over each linefrom left to right. then back to the beginning of the next line, andso on. In fact, the physical process of reading usually doesn’twork in either of those ways.
