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120[deg] R = 0.1 [m]
120[deg]
y Joint s
120[deg]
x
0.1 [m] Locked joint
0.1 [m] Joint p
105 [deg] + 1 [deg]
0.1 [m]
radius = 0.02 [m] mass
= 0.01 [kg]
(a-1) Simulation model
(b-1) Initial posture
(c-1) Initial posture
(c-2) Changing posture
(b-2) Pushing an object
(c-3) Slipping up
(c-4) Enveloping
Stiffness Kθi [Nm/deg]
0.7 0.6 0.5 Lifting
0.4
up
0.3 0.2 0.1 0 0
5 10 Angular displacement ∆θ pi [deg]
15
(a-2) Relationship between K θ i and
∆ θpi
(a) Simulation result
(b) Appling a simple pushing motion
(c) Appling SPCM
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