Control Theory of Multi-fingered Hands

A Modelling and Analytical-Mechanics Approach for Dexterity and Intelligence
2008
ISBN: 978-1-84996-718-1
Verlag: Springer

Buch, Englisch, 271 Seiten, Previously published in hardcover, Format (B × H): 155 mm x 235 mm, Gewicht: 435 g

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.

Zielgruppe

Research

Autoren/Hrsg.

Arimoto, Suguru

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Wissensbasierte Systeme, Expertensysteme
• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik

Inhaltsverzeichnis

Characterisations of Human Hands.- Stability of Grasping in a Static or Dynamic Sense.- Testbed Problems to Control a 2-D Object Through Rolling Contact.- Two-dimensional Grasping by a Pair of Rigid Fingers.- Three-dimensional Grasping by a Pair of Rigid Fingers.- Dexterity and Control for Stable Grasping by Soft Fingers.

Über Autor(innen)

Dr Suguru Arimoto is a Professor in the Department of Robotics at Ritsumeikan University, Japan. His research interests include information theory, control theory, cybernetics, robotics, and machine intelligence. Dr Arimoto is a Fellow of the Institute of Electrical and Electronics Engineers; the Institute of Electronics, Information and Communication Engineers; the Robotics Society of Japan; and the Japan Society of Mechanical Engineers. He was awarded the Royal Medal with a Purple Ribbon from the Japanese Government in 2000, and the IEEE 3rd Millennium Medal in 2000.