Underactuated Robotic Hands

• Main Authors: Birglen, Lionel (Author), Laliberté, Thierry (Author), Gosselin, Clément (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2008.
• Series: Springer Tracts in Advanced Robotics, 40
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.

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 auth...

Table of Contents:

• Grasping vs. Manipulating
• Kinetostatic Analysis of Robotic Fingers
• Grasp Stability of Underactuated Fingers
• Optimal Design of Underactuated Fingers
• Underactuation between the Fingers
• Design and Control of the Laval Underactuated Hands
• Conclusion.