Mechanics and Control of Soft-fingered Manipulation

• Κύριοι συγγραφείς: Inoue, Takahiro (Συγγραφέας), Hirai, Shinichi (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: London : Springer London, 2009.
• Θέματα: Engineering.; Continuum mechanics.; Structural mechanics.; Vibration.; Dynamical systems.; Dynamics.; Control engineering.; Robotics.; Mechatronics.; Automation.; Robotics and Automation.; Control, Robotics, Mechatronics.; Vibration, Dynamical Systems, Control.; Continuum Mechanics and Mechanics of Materials.; Structural Mechanics.

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...

Πίνακας περιεχομένων:

• 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.