Control Theory of Multi-fingered Hands: A Modelling and Analytical–Mechanics Approach for Dexterity and IntelligenceSpringer Science & Business Media, 15 лют. 2008 р. - 271 стор. Here you’ll 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. |
Зміст
| 1 | |
Stability of Grasping in a Static or Dynamic Sense | 41 |
Testbed Problems to Control a 2D Object Through | 80 |
Twodimensional Grasping by a Pair of Rigid Fingers | 115 |
Threedimensional Grasping by a Pair of Rigid Fingers | 155 |
4 | 208 |
Dynamics of a FullVariables Model for 3D Grasping by Soft | 248 |
A Mathematical Supplements | 257 |
References | 263 |
Інші видання - Показати все
Control Theory of Multi-fingered Hands: A Modelling and Analytical–Mechanics ... Suguru Arimoto Попередній перегляд недоступний - 2010 |
Control Theory of Multi-fingered Hands: A Modelling and Analytical–Mechanics ... Suguru Arimoto Попередній перегляд недоступний - 2007 |
Загальні терміни та фрази
angle assume axis becomes body called centre closed-loop dynamics consider constant constraint contact point control signals convergence coordinates corresponding damping defined definite denotes derivation described direction discussed DOFs Equation equation of motion equilibrium expressed external finger-end fingers–object system fingertip follows force force/torque balance four function gain given in Table grasping gravity hand Hence human immobilise implies important inertia initial joint kinetic energy length manifold mass matrix means motion movements numerical object object surface obtain overall pair particle physical physical variables position possible potential problem relation respect rigid object robot fingers rolling contact rotational satisfying shown in Figure side similar simulation soft solution stability substituting Table term thumb time[s trajectory value of zero vector weight yields