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This paper analyzes static grasp stability of multiple planar objects. To accomplish tasks efficiently, multiple objects are grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects is quantitatively evaluated. Each finger is replaced with a 2D spring model, and the grasp stability is evaluated from the viewpoint of potential energy stored in the...
A powder solid dispersion system (SD) of indomethacin (IM) with crospovidone prepared by a twin-screw kneader or twin-screw extruder possessed good fluidity and was suitable for tablet formulation. Tablets of SD prepared by direct containing 25% IM. Aqueous film-coated SD tablets coated with Opadry OY7300 were obtained without recrystallizing during the coating process. The properties of SD powder,...
This paper proposes a new foot system to achieve stable biped walking on rough terrain. The new foot system, which is named point-contact type foot with springs (PCFS), has four passive joints each of which equips a spring and a sensor. The proposed foot system has the following advantages: 1) The geometrical adaptability to rough terrain. 2) The measurability of the posture of the robot. 3) The absorption...
In this paper, a new approach to regulate any periodic signals with multiple periods is proposed and a useful discrete-time controller called multiple repetitive controller is presented. The contributions are as follows. First, the proposed multiple repetitive controller not only can be implemented with much less memory elements than the previous ones but also can provide much faster convergence of...
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