滑りや転がり接触する指先面と物体面の運動

抄録

This paper discusses the kinematics of a multifingered hand and object with roll-sliding contact. Manipulations of the multifingered hand have been studied in joint contact or rolling contact with the object, under the condition that both finger and object surfaces have arbitrary shapes. This paper clarifies the relations of prismatic velocity and angular velocity of finger surface to those of the object surface with roll-sliding contact in three-dimensional space. An example shows that the moving direction of the spherical finger surface is different from that of a contact point on the cylindrical object surface, and that the integrations of velocities of the contact point give a curved trace of the contact point.