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After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions, pulley radius, mass of finger link, and spring constant. We show a couple of experiments where the robot parameter is determined based on the dynamic pre-shaping problem.<\/jats:p>","DOI":"10.1177\/0278364905057058","type":"journal-article","created":{"date-parts":[[2005,9,6]],"date-time":"2005-09-06T04:38:03Z","timestamp":1125981483000},"page":"743-753","source":"Crossref","is-referenced-by-count":37,"title":["Design of the 100G Capturing Robot Based on Dynamic Preshaping"],"prefix":"10.1177","volume":"24","author":[{"given":"Mitsuru","family":"Higashimori","sequence":"first","affiliation":[{"name":"Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Makoto","family":"Kaneko","sequence":"additional","affiliation":[{"name":"Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akio","family":"Namiki","sequence":"additional","affiliation":[{"name":"Graduate School of Information Science and Technology, The University of                         Tokyo, Bunkyo-ku, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masatoshi","family":"Ishikawa","sequence":"additional","affiliation":[{"name":"Graduate School of Information Science and Technology, The University of                         Tokyo, Bunkyo-ku, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2005,9,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/70.238279"},{"key":"atypb2","unstructured":"Bonivento, C., Caselli, S., Faldella, E., Melchiori, C., and Tonielli, A. 1988. 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