Mechanics and Control of Soft-fingered Manipulation PDF Download
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Author: Takahiro Inoue
Publisher: Springer Science & Business Media
ISBN: 184800981X
Category : Technology & Engineering
Languages : en
Pages : 245
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Book Description
“Mechanics and Control of Soft-fingered Manipulation” introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. The book uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally, revealing the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.
Author: Takahiro Inoue
Publisher: Springer Science & Business Media
ISBN: 184800981X
Category : Technology & Engineering
Languages : en
Pages : 245
Get Book Here
Book Description
“Mechanics and Control of Soft-fingered Manipulation” introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. The book uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally, revealing the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.
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: Cheng-Hung Chen
Publisher: John Wiley & Sons
ISBN: 1119273617
Category : Technology & Engineering
Languages : en
Pages : 226
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Book Description
An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world’s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage’s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world’s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
Author: Richard M. Murray
Publisher: CRC Press
ISBN: 1351469789
Category : Technology & Engineering
Languages : en
Pages : 488
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Book Description
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Author: Koichi Suzumori
Publisher: Springer Nature
ISBN: 9811951748
Category : Computers
Languages : en
Pages : 411
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Book Description
The goal of this textbook is to equip readers with as structured knowledge of soft robotics as possible. Seeking to overcome the limitations of conventional robots by making them more flexible, gentle and adaptable, soft robotics has become one of the most active fields over the last decade. Soft robotics is also highly interdisciplinary, bringing together robotics, computer science, material science, biology, etc. After the introduction, the content is divided into three parts: Design of Soft Robots; Soft Materials; and Autonomous Soft Robots. Part I addresses soft mechanisms, biological mechanisms, and soft manipulation & locomotion. In Part II, the basics of polymer, biological materials, flexible & stretchable sensors, and soft actuators are discussed from a materials science standpoint. In turn, Part III focuses on modeling & control of continuum bodies, material intelligence, and information processing using soft body dynamics. In addition, the latest research results and cutting-edge research are highlighted throughout the book. Written by a team of researchers from highly diverse fields, the work offers a valuable textbook or technical guide for all students, engineers and researchers who are interested in soft robotics.
Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 1461544319
Category : Technology & Engineering
Languages : en
Pages : 154
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Book Description
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Author: Habib, Maki K.
Publisher: IGI Global
ISBN: 1799801381
Category : Technology & Engineering
Languages : en
Pages : 484
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Book Description
Advanced research in the field of mechatronics and robotics represents a unifying interdisciplinary and intelligent engineering science paradigm. It is a holistic, concurrent, and interdisciplinary engineering science that identifies novel possibilities of synergizing and fusing different disciplines. The Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics is a collection of innovative research on the methods and applications of knowledge in both theoretical and practical skills of intelligent robotics and mechatronics. While highlighting topics including green technology, machine learning, and virtual manufacturing, this book is ideally designed for researchers, students, engineers, and computer practitioners seeking current research on developing innovative ideas for intelligent robotics and autonomous and smart interdisciplinary mechatronic products.
Author: Ishwar Singh
Publisher: Pencil
ISBN: 9362631873
Category : Juvenile Nonfiction
Languages : en
Pages : 114
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Book Description
We invite you to join us in the exploration of a key aspect of the modern technological world, which is electric drive systems. "Gearboxes and Harmonic Drive Systems" is a rapidly progressing sustainable advancement in the energy sector, transport, and industry automation. These systems' main components are gearboxes and harmonic drives. These mechanisms are indispensable for transmitting and improving the power of the moving objects. The essence of this book is that it gives the readers a clear overview of the fundamentals, construction principles, applications, and technologies, focusing on the use of custom-designed epicyclic gearboxes for electric drive systems. This book is a promising source for learning more about the bottomlessness and creativity of electric drive advancement.
Author: Oussama Khatib
Publisher: Springer Science & Business Media
ISBN: 3540774564
Category : Technology & Engineering
Languages : en
Pages : 562
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Book Description
The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on the novelty of theoretical contributions validated by experimental results. This unique reference presents the latest advances in robotics, with ideas that are conceived conceptually and have been explored experimentally.
Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 364229040X
Category : Computers
Languages : en
Pages : 284
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Book Description
Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.
