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Mechanics and Control of Soft-fingered Manipulation

Author: Takahiro Inoue; Shinichi Hirai
Publisher: London : Springer London, 2009.
Series: SpringerLink: Springer e-Books
Edition/Format:   Computer file : English : Online-ausgView all editions and formats
Summary:

This enlightening book introduces a new approach to the modeling of fingertips similar to human fingers. The book uniquely investigates how soft fingertips with hard back plates enhance dexterity in  Read more...

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Material Type: Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Takahiro Inoue; Shinichi Hirai
ISBN: 9781848009813 184800981X 9781848009806 1848009801
OCLC Number: 612591351
Reproduction Notes: Online-Ausg. Berlin [u.a.] Springer, 2008. online-Ressource.
Description: S.
Contents: IntroductionObservation of Soft-fingered Grasping and ManipulationElastic Model of Deformable FingertipFingertip Model with Tangential DeformationVariational Formulations in MechanicsStatics of Soft-fingered Grasping and ManipulationDynamics of Soft-fingered Grasping and ManipulationControl of Soft-fingered Grasping and ManipulationGeometrical and Material Nonlinear Elastic ModelNon-Jacobian Control of Robotic Pinch TasksThree-dimensional Grasping and ManipulationConclusions
Series Title: SpringerLink: Springer e-Books
Responsibility: by Takahiro Inoue, Shinichi Hirai.

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From the reviews:"This research monograph elaborates on the contact mechanics and control strategies of a two-finger robotic hand having a pair of hemispherical soft fingertips on the distal position Read more...

 
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