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Titlebook: Underactuated Robotic Hands; Lionel Birglen,Thierry Laliberté,Clément Gosselin Book 2008 Springer-Verlag Berlin Heidelberg 2008 Intelligen

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书目名称Underactuated Robotic Hands
编辑Lionel Birglen,Thierry Laliberté,Clément Gosselin
视频videohttp://file.papertrans.cn/942/941260/941260.mp4
概述Cornerstone publication in robotic grasping
丛书名称Springer Tracts in Advanced Robotics
图书封面Titlebook: Underactuated Robotic Hands;  Lionel Birglen,Thierry Laliberté,Clément Gosselin Book 2008 Springer-Verlag Berlin Heidelberg 2008 Intelligen
描述.Grasping and manipulation skills are at the core of the development of modern robotic systems. With the introduction of robotics in new applications involving unstructured environments (e.g. space, undersea, surgery), intelligent manipulation and grasping has become a crucial research area. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. Their work was reported in several publications which appeared in the most renowned journals and conferences. ..The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping—namely under actuation—which has achieved great success both in theory and in practice. This book is not intended to be used as a textbook but could be used as a reference at the post-graduate level..
出版日期Book 2008
关键词Intelligent Manipulation and Grasping; Robotic Grasping; Underactuated Robotic Hands; control; robot; rob
版次1
doihttps://doi.org/10.1007/978-3-540-77459-4
isbn_softcover978-3-642-09611-2
isbn_ebook978-3-540-77459-4Series ISSN 1610-7438 Series E-ISSN 1610-742X
issn_series 1610-7438
copyrightSpringer-Verlag Berlin Heidelberg 2008
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1610-7438 ith the introduction of robotics in new applications involving unstructured environments (e.g. space, undersea, surgery), intelligent manipulation and grasping has become a crucial research area. The authors have developed an internationally recognized expertise in this area. Additionally, they desi
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Introduction,smaller dimension than the output vector. Practically, in robotics, it means having fewer actuators than degrees of freedom (DOF). Applying this concept to robotic grasping arises from a simple fact: it is desirable to be able to grasp objects using a simple control rather than having to command and
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Kinetostatic Analysis of Robotic Fingers,other hand, the rather intuitive design of functional prototypes. This chapter attempts to bridge this gap for the special case of underactuated fingers. Indeed, although the development of underactuated fingers aims at overcoming the theoretical difficulties of general manipulation issues and at ob
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Grasp Stability of Underactuated Fingers,r object. Then, another step in the grasping process will take place: the remaining phalanges—corresponding to positive forces—will slide on the surface of the object. This sliding process will continue until either a stable configuration is achieved (with only positive or zero phalanx forces) or jo
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Underactuation between the Fingers,a number of fingers comprised between two and five, while over 50% have three fingers. It is therefore a natural step to extend the principle of underactuation to the hand itself in addition to individual fingers. The purpose of the underactuation between the fingers is to use the power of one actua
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