Description
Mechanics and Control of Soft-fingered Manipulation, Softcover reprint of hardcover 1st ed. 2009
Authors: Inoue Takahiro, Hirai Shinichi
Language: EnglishKeywords
Grasping; Hand; Manipulation; Robotics; Simulation; design; mechanics; modeling; robot; statics
Approximative price 105.49 €
In Print (Delivery period: 15 days).
Add to cart the book of Inoue Takahiro, Hirai ShinichiPublication date: 10-2010
245 p. · 15.5x23.5 cm · Paperback
Approximative price 105.49 €
Subject to availability at the publisher.
Add to cart the book of Inoue Takahiro, Hirai ShinichiPublication date: 12-2008
245 p. · 15.5x23.5 cm · Hardback
Description
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?Mechanics and Control of Soft-fingered Manipulation? introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. The book uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally, revealing the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.
Takahiro Inoue received his MSc and PhD degrees from Ritsumeikan University, Japan. He has received funding from the Japan Society of the Promotion of Science and his current research interests include soft-fingered manipulation, soft object modeling, and MEMS technology.
Shinichi Hirai received his BSc, MSc and doctoral degrees from Kyoto University. He is now a professor in the Department of Robotics at Ritsumeikan University. His previous positions include visiting researcher at Massachusetts Institute of Technology and assistant professor at Osaka University. His current research interests are the modeling and control of deformable structures, real-time computer vision, and soft-fingered manipulation.
The first book on soft-fingered grasping and manipulation
Includes supplementary material: sn.pub/extras