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Author: Massachusetts Institute of Technology. Artificial Intelligence Laboratory
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author: Massachusetts Institute of Technology. Artificial Intelligence Laboratory
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Author: John M. Hollerbach
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 21
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Book Description
The workshop for the Design and Control of Dexterous Hands was held at the MIT Artificial Intelligence Laboratory on November 5-6, 1981. Outside experts were brought together to discuss four topics kinematics of hands, actuation and materials, touch sensing, and control. This report summarizes the discussions of the participants and attempts to identify a consensus on applications, mechanical design, and control. (Author).
Author: Subramanian T. Venkataraman
Publisher: Springer Science & Business Media
ISBN: 1461389747
Category : Technology & Engineering
Languages : en
Pages : 349
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Book Description
Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.
Author: John M. Hollerbach
Publisher:
ISBN:
Category : Artificial hands
Languages : en
Pages : 21
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Book Description
The workshop for the Design and Control of Dexterous Hands was held at the MIT Artificial Intelligence Laboratory on November 5-6, 1981. Outside experts were brought together to discuss four topics kinematics of hands, actuation and materials, touch sensing, and control. This report summarizes the discussions of the participants and attempts to identify a consensus on applications, mechanical design, and control. (Author).
Author: Tetsuyou Watanabe
Publisher: Academic Press
ISBN: 0128133961
Category : Technology & Engineering
Languages : en
Pages : 220
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Book Description
Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation
Author: Sundar Narasimhan
Publisher:
ISBN:
Category :
Languages : en
Pages : 328
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Book Description
This report present issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered form inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware.
Author: Zhiming Ji
Publisher:
ISBN:
Category : Motor ability
Languages : en
Pages : 302
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Book Description
Author: Qiang Li
Publisher: Academic Press
ISBN: 0323904173
Category : Computers
Languages : en
Pages : 374
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Book Description
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Author: John M. Hollerbach
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
