Control Theory of Multi-fingered Hands: A Modelling and AnalyticalMechanics Approach for Dexterity and Intelligence

Springer Science & Business Media, 15 . 2008 . - 271 .

Here youll find a comprehensive insight into the intelligence and dexterity of robotic multi-fingered hands from both the physical and control-theoretic viewpoints. It focuses on the problem of how to control dexterous movements of fingers interacting with an object in the execution of everyday tasks. It moves on to clarify what kinds of sensory-motor coordinated signals are necessary and sufficient for realizing stable grasping as well as object manipulation.

 

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Characterisations of Human Hands
1
12 Dexterity in Redundancy of Finger Joints
5
13 Bernsteins DOF Problems
8
14 Physical Principles Underlying Functionality of the HumanArmandHand
14
15 Difficulty in the Development of Everyday Physics
17
16 Newtons Laws of Motion
20
17 Kinetic Energy of a System of Particles
25
18 Kinematics and Dynamics of a Rigid Body
30
45 Stability of Blind Grasping
135
46 Stability on a Manifold and Transferability to the EP Manifold
145
47 Experiments of Blind Grasping
151
Threedimensional Grasping by a Pair of Rigid Fingers
155
51 Introduction
156
52 Nonholonomic Constraints
157
53 Threedimensional Rolling Contact Constraints
160
54 Lagranges Equation for the Overall FingersObject System
165

19 Variational Principle and Lagranges Equation
32
Stability of Grasping in a Static or Dynamic Sense
41
21 Immobilisation of 2D Objects
42
22 ForceTorque Closure
44
23 Frictional Grasp of 2D Objects
48
24 Rolling Contact Constraint
50
25 Testbed Problems for Dynamically Stable Grasp
54
26 Blind Grasping and Robustness Problems
65
27 Exponential Convergence to ForceTorque Balance
74
Testbed Problems to Control a 2D Object Through Rolling Contact
80
31 Stabilisation of Motion of a 2D Object Through Rolling Contact
82
32 Stability Problems under Redundancy of DOFs
89
33 Riemannian Distance and Stability on a Manifold
93
34 Exponential Convergence for Stabilisation of Rotational Moments
97
35 Dynamic ForceTorque Balance Based upon Morse Theory
102
36 Minimum DOF for Dynamic Immobilisation of a 2D Pivoted Object
107
Twodimensional Grasping by a Pair of Rigid Fingers
115
42 ForceTorque Balance
120
43 Control Signals for Grasping in a Blind Manner
126
44 Construction of Simulators for Object Grasping and Manipulation
133
55 Physical Meaning of Oppositionbased Control Under Rollings
167
56 Stability of Blind Grasping under the Circumstances of Weightlessness
171
57 Control for Stable Blind Grasping
176
58 Numerical Simulation Results
179
59 A Mathematical Proof of the Stability of Blind Grasping
184
510 Stable Manipulation of a 3D Rigid Object
189
511 FullDOF Model of 3D Grasping
191
512 Supplementary Results
203
Dexterity and Control for Stable Grasping by Soft Fingers
206
62 Stabilisation of a 2D Object by a Single DOF Soft Finger
209
63 Stable Grasping of a 2D Object by Dual SingleDOF Soft Fingers
216
64 Convergence to ForceTorque Balance by a Pair of Soft Fingers
227
65 Precision Prehension of a 2D Object under Gravity
237
66 Prehension of a 3D Object by a Pair of Soft Fingers
243
67 Dynamics of a FullVariables Model for 3D Grasping by Soft Fingers
248
Mathematical Supplements
257
A Bibliographic Note on the References
259
References
263
Index
268

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 (2008)

Dr Suguru Arimoto is a Professor in the Department of Robotics at Ritsumeikan University, Japan. His research interests include information theory, control theory, cybernetics, robotics, and machine intelligence. Dr Arimoto is a Fellow of the Institute of Electrical and Electronics Engineers; the Institute of Electronics, Information and Communication Engineers; the Robotics Society of Japan; and the Japan Society of Mechanical Engineers. He was awarded the Royal Medal with a Purple Ribbon from the Japanese Government in 2000, and the IEEE 3rd Millennium Medal in 2000.