Dexterous Robotic Hands PDF Download
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Author | : Subramanian T. Venkataraman |
Publisher | : Springer Science & Business Media |
Total Pages | : 349 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1461389747 |
Download Dextrous Robot Hands Book in PDF, ePub and Kindle
Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.
Author | : Tetsuyou Watanabe |
Publisher | : Academic Press |
Total Pages | : 218 |
Release | : 2018-06-26 |
Genre | : Technology & Engineering |
ISBN | : 0128133961 |
Download Human Inspired Dexterity in Robotic Manipulation Book in PDF, ePub and Kindle
Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation
Author | : Sundar Narasimhan |
Publisher | : |
Total Pages | : 328 |
Release | : 1988 |
Genre | : |
ISBN | : |
Download Dexterous Robotic Hands Book in PDF, ePub and Kindle
This report present issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered form inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware.
Author | : Martin Pfanne |
Publisher | : Springer Nature |
Total Pages | : 213 |
Release | : 2022-08-31 |
Genre | : Technology & Engineering |
ISBN | : 3031069676 |
Download In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands Book in PDF, ePub and Kindle
This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.
Author | : |
Publisher | : |
Total Pages | : |
Release | : 1998 |
Genre | : |
ISBN | : |
Download The Design and Development of a Dexterous Robotic Hand Book in PDF, ePub and Kindle
Author | : Lionel Birglen |
Publisher | : Springer Science & Business Media |
Total Pages | : 248 |
Release | : 2008-02-11 |
Genre | : Technology & Engineering |
ISBN | : 3540774580 |
Download Underactuated Robotic Hands Book in PDF, ePub and Kindle
This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.
Author | : Ravi Balasubramanian |
Publisher | : Springer |
Total Pages | : 573 |
Release | : 2014-01-03 |
Genre | : Technology & Engineering |
ISBN | : 3319030175 |
Download The Human Hand as an Inspiration for Robot Hand Development Book in PDF, ePub and Kindle
“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.
Author | : Peter K. Allen |
Publisher | : |
Total Pages | : 9 |
Release | : 1998 |
Genre | : |
ISBN | : |
Download Intelligent Sensor-Based Manipulation with Robotic Hands Book in PDF, ePub and Kindle
Our hand research has focused on enhancing the dexterity of robotic hands and understanding the nature of dexterous manipulation. The premise of the research is that incorporating task level understanding into a manipulation system simplifies robot planning and increases autonomy. The study of task level strategies for dexterous manipulation has led to development of several novel techniques for controlling the fingertip forces during manipulation and fingertip motion planning. The insights into increased autonomy have led to the development of a novel technique for teleoperating robot hands. The traditional technique of teleoperating a robot hand is to use a Dataglove or exoskeleton master; there is a direct mapping from the human hand to the robot hand. This approach has several limitations which we have addressed by using a simpler control interface with a joystick or keyboard. Enhancing the robot hand's autonomy allows for simpler control strategies and gives it greater functionality than by traditional means. Control of the hand is shared between the user and the robot. We have developed a prototype teleoperation system using a Utah/MIT hand. Our research will ultimately have application in medicine and industry, for enhancement of prosthetic hands and the development of more complex robotic grippers.
Author | : Qiang Li |
Publisher | : Academic Press |
Total Pages | : 374 |
Release | : 2022-04-02 |
Genre | : Computers |
ISBN | : 0323904173 |
Download Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation Book in PDF, ePub and Kindle
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Author | : Fumiya Iida |
Publisher | : Springer |
Total Pages | : 339 |
Release | : 2004-07-02 |
Genre | : Computers |
ISBN | : 3540278338 |
Download Embodied Artificial Intelligence Book in PDF, ePub and Kindle
Originating from a Dagstuhl seminar, the collection of papers presented in this book constitutes on the one hand a representative state-of-the-art survey of embodied artificial intelligence, and on the other hand the papers identify the important research trends and directions in the field. Following an introductory overview, the 23 papers are organized into topical sections on - philosophical and conceptual issues - information, dynamics, and morphology - principles of embodiment for real-world applications - developmental approaches - artificial evolution and self-reconfiguration