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Languages : en
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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: Ravi Balasubramanian
Publisher: Springer
ISBN: 3319030175
Category : Technology & Engineering
Languages : en
Pages : 573
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Book Description
“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.
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: 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: Tao Wang
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Robotic manipulation is a complex field that still faces numerous challenges. With the development of collaborative robots, the end-effector area is just beginning to gain traction, and electrically driven end-effectors are just starting to be widely used in the industry. One of the fundamental requirements for a robot to achieve practical applications is stable grasping. However, in reality, most stable grasping relies on specific static conditions and human experience. As the robotic industry continues to develop more complex and diverse applications, the need for stable grasping to support these high-level applications increases. To achieve more complex and stable grasping functions, a complex end-effector, such as a dexterous hand, becomes essential hardware. This thesis focuses on building a novel practical dexterous hand that can be used in robotic manipulation research. To make better use of the dexterous hand, visual-based grasp planning, and tactile-based stable grasping are necessary to form a stable grasping system. In this thesis, three crucial topics were selected and divided into three parts of the work: dexterous hand, grasp planning, and stable grasping. The dexterous hand part includes the main design work of a modular three-finger dexterous hand called DoraHand and partial work on another one called Eagle Shoal. The performance of the DoraHand and the tactile sensor module is showcased through experiments. Two-finger and five-finger versions of the DoraHand have also been developed and tested in real applications, providing a reliable hardware foundation for further research. The grasp planning part focuses on providing a grasp planning solution for the dexterous hand. As an essential function of using an end-effector, this part starts with an analytic solution that considers the limitations of the dexterous hand mechanism and grasp quality evaluation. A grasp planning network has been developed using both analytic and data-driven approaches. The network features a multi-finger grasp plan representation method and has been successfully verified. The stable grasping part is the final application of this thesis, where the hardware provides the foundation and the stable grasping algorithm utilizes the tactile sensor. An open-source visual-tactile dataset has been developed using the Eagle Shoal dexterous hand. The stable grasping algorithm, built based on this dataset, has been successfully verified with different types of end-effectors, including DoraHand and suction cup gripper. Overall, these three parts of work constitute the critical components of a stable grasping system using a dexterous hand. This system and related dataset enable further research in stable grasping and robotic manipulation. The primary objective of this thesis has been successfully achieved with the development of DoraHand, which has been used by over twenty research institutes and companies. The algorithms developed for grasp planning and stable grasping serve as a foundation for future research in this field, while the dataset can be used as a benchmark for comprehensive robotic research. Further development is needed to explore the potential applications of the dexterous hand in robotic manipulation.
Author: Massachusetts Institute of Technology. Artificial Intelligence Laboratory
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author: Fumiya Iida
Publisher: Springer
ISBN: 3540278338
Category : Computers
Languages : en
Pages : 339
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Book Description
Originating from a Dagstuhl seminar, the collection of papers presented in this book constitutes on the one hand a representative state-of-the-art survey of embodied artificial intelligence, and on the other hand the papers identify the important research trends and directions in the field. Following an introductory overview, the 23 papers are organized into topical sections on - philosophical and conceptual issues - information, dynamics, and morphology - principles of embodiment for real-world applications - developmental approaches - artificial evolution and self-reconfiguration
