Mechanics and Control of Soft-fingered Manipulation

It is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. Mechanics and Control of Soft-fingered Manipulation introduces a new approach to the modeling of fingertips that have a soft pad and a har...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Inoue, Takahiro (Autor), Hirai, Shinichi (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: London : Springer London : Imprint: Springer, 2009.
Edición:1st ed. 2009.
Temas:
Control engineering.
Robotics.
Automation.
Multibody systems.
Vibration.
Mechanics, Applied.
Solids.
Control, Robotics, Automation.
Multibody Systems and Mechanical Vibrations.
Solid Mechanics.
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • Observation of Soft-fingered Grasping and Manipulation
  • Elastic Model of a Deformable Fingertip
  • Fingertip Model with Tangential Deformation
  • Variational Formulations in Mechanics
  • Statics of Soft-fingered Grasping and Manipulation
  • Dynamics of Soft-fingered Grasping and Manipulation
  • Control of Soft-fingered Grasping and Manipulation
  • Geometric and Material Nonlinear Elastic Model
  • Non-Jacobian Control of Robotic Pinch Tasks
  • Three-dimensional Grasping and Manipulation
  • Conclusions.

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