Underactuated Robotic Hands
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Underactuated Robotic Hands
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Author : Lionel Birglen
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-02-11
Underactuated Robotic Hands written by Lionel Birglen and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-02-11 with Technology & Engineering categories.
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.
Design And Analysis Of Selectively Compliant Underactuated Robotic Hands
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Author : Daniel McConnell Aukes
language : en
Publisher:
Release Date : 2013
Design And Analysis Of Selectively Compliant Underactuated Robotic Hands written by Daniel McConnell Aukes and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
A balance between complexity and functional capabilities has been explored since the first years of multi-fingered robotic hands. In an age where DC motors are the de facto standard for actuation in robotics, the problem of needing to operate in a human-sized world puts severe constraints and limits on actuator size and placement in hands. While many successful examples of fully-actuated designs exist, these designs generally reflect the trade-offs and sacrifices imposed by such constraints. In that light, underactuation, employing fewer actuators than degrees of freedom, has gained attention as a method to achieve many of the functional capabilities of fully-actuated hands with fewer constraints on actuators and transmissions. Underactuated hands also have distinct advantages over fully actuated hands, especially when used on mobile robots, due to their reduced weight and control complexity, and the potential for increased robustness. However there is typically a trade-off in terms of reduced controllability or manipulability when handling grasped objects. When designing underactuated hands, extra care must be taken during the design process to ensure that such hands will grasp a wide range of object sizes and shapes robustly, particularly when friction is low and uncertain. Despite these concerns, underactuated hands have become increasingly popular in robotic and prosthetic applications. Robotic hands are also a venue in which novel, secondary mechanisms are often found. Devices such as differentials, valves, clutches, and low-power, shape-changing actuators have been used to improve grasp robustness on a wider range of objects and allow users more grasping and manipulation options. However, the location and placement of secondary actuators has not been studied in a comprehensive way with respect to the types of actuation methods possible. This is due in part to the lack of general analytic tools which enable designers to rapidly investigate their designs prior to the prototyping stage. Additionally, much of the analysis in the field of robotic hands is done once basic design choices have already been made, making subsequent analyses specific only to a set of design parameters specific to those choices. The same point can be made regarding quality metrics, which suffer from fragmented utilization due to the many different emphases placed on different design requirements. The primary goal of this thesis is to provide a framework for the analysis and evaluation of underactuated robotic hands. The first chapter discusses both the broad motivations for studying robotic hands and the specific contributions of this thesis. The next chapter reviews relevant designs from literature, analyses that have accompanied them, uses of secondary devices in underactuated hands, and the progress that dynamics simulators have made towards representing reality. In the next chapters, the issues related to modeling abstract, generic hand designs is discussed, and a kinematic framework is introduced to derive the force relationships between actuator and grasped object for many mechanisms commonly encountered in underactuated hands. Chapter 6 discusses difficulties associated with solving static force equations, and several methods are introduced to accomplish this. The last of these options relies on three-dimensional rigid-body dynamic simulations to evaluate the performance of compliant, underactuated mechanisms which may encounter conditions such as coulomb friction in contact and and damping at the joints. In the next chapters, these force relationships are derived and discussed for specific hand designs in the context of a force-field representation, and several performance metrics are derived which measure a hand's ability both to acquire and retain objects. The benefits of secondary actuation mechanisms are then discussed with two specific examples. First is the SRI/Stanford/Meka hand, a tendon-driven, compliant, underactuated hand capable of locking individual joints. Second is a mechanism implemented on the Seabed Hand, which increases the range of graspable objects and allows users to selectively change grasp properties based on their specific control needs. Finally, the impacts of friction are discussed, and the trends from simulations are compared with experimental data. From these experiments the benefits of secondary mechanisms can be demonstrated in a frictional world as well.
Analysis And Control Of Underactuated Robotic Hands
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Author : Lionel Birglen
language : en
Publisher:
Release Date : 2004
Analysis And Control Of Underactuated Robotic Hands written by Lionel Birglen and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
Human And Robot Hands
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Author : Matteo Bianchi
language : en
Publisher: Springer
Release Date : 2016-02-24
Human And Robot Hands written by Matteo Bianchi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-02-24 with Computers categories.
This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.
Intelligent Robotics And Applications
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Author : Naoyuki Kubota
language : en
Publisher: Springer
Release Date : 2016-08-02
Intelligent Robotics And Applications written by Naoyuki Kubota and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-08-02 with Computers categories.
This two volume set LNAI 9834 and 9835 constitutes the refereed proceedings of the 9th International Conference on Intelligent Robotics and Applications, ICIRA 2016, held in Tokyo, Japan, in August 2016. The 114 papers presented were carefully reviewed and selected from 148 submissions. The papers are organized in topical sections such as Robot Control; Robot Mechanism, Robot Vision and Sensing; Planning, Localization, and Mapping; Interactive Intelligence; Cognitive Robotics; Bio-Inspired Robotics; Smart Material Based Systems; Mechatronics Systems for Nondestructive Testing; Social Robotics; Human Support Robotics; Assistive Robotics; Intelligent Space; Sensing and Monitoring in Environment and Agricultural Sciences; Human Data Analysis; Robot Hand.
Experimental Robotics
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Author : Jaydev P. Desai
language : en
Publisher: Springer
Release Date : 2013-07-09
Experimental Robotics written by Jaydev P. Desai and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-07-09 with Technology & Engineering categories.
The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Québec City, Canada, at the Fairmont Le Château Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental Robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.
Social Robotics
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Author : Arvin Agah
language : en
Publisher: Springer
Release Date : 2016-10-06
Social Robotics written by Arvin Agah and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-10-06 with Computers categories.
This book constitutes the refereed proceedings of the 8th International Conference on Social Robotics, ICSR 2016, held in Kansas City, MO, USA, in November 2016. The 98 revised full papers presented were carefully reviewed and selected from 107 submissions. The theme of the 2016 conference is Sociorobotics: Design and implementation of social behaviors of robots interacting with each other and humans. In addition to technical sessions, ICSR 2016 included three workshops: The Synthetic Method in Social Robotics (SMSR 2016), Social Robots: A Tool to Advance Interventions for Autism, and Using Social Robots to Improve the Quality of Life in the Elderly.
Advanced Mechanics In Robotic Systems
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Author : Nestor Eduardo Nava Rodríguez
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-07-22
Advanced Mechanics In Robotic Systems written by Nestor Eduardo Nava Rodríguez and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-07-22 with Technology & Engineering categories.
Humans have always been fascinated with the concept of artificial life and the construction of machines that look and behave like people. As the field of robotics evolves, it demands continuous development of successful systems with high-performance characteristics for practical applications. Advanced Mechanics in Robotic Systems illustrates original and ambitious mechanical designs and techniques for developing new robot prototypes with successful mechanical operational skills. Case studies are focused on projects in mechatronics that have high growth expectations: humanoid robots, robotics hands, mobile robots, parallel manipulators, and human-centred robots. A good control strategy requires good mechanical design, so a chapter has also been devoted to the description of suitable methods for control architecture design. Readers of Advanced Mechanics in Robotic Systems will discover novel designs for relevant applications in robotic fields, that will be of particular interest to academic and industry-based researchers.
Grasping In Robotics
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Author : Giuseppe Carbone
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-11-15
Grasping In Robotics written by Giuseppe Carbone and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-11-15 with Technology & Engineering categories.
Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture). The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and humanoid robotics. It could even be adopted as a reference textbook in specific PhD courses.
Proceedings Of The 2015 Chinese Intelligent Automation Conference
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Author : Zhidong Deng
language : en
Publisher: Springer
Release Date : 2015-04-07
Proceedings Of The 2015 Chinese Intelligent Automation Conference written by Zhidong Deng and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-04-07 with Technology & Engineering categories.
Proceedings of the 2015 Chinese Intelligent Automation Conference presents selected research papers from the CIAC’15, held in Fuzhou, China. The topics include adaptive control, fuzzy control, neural network based control, knowledge based control, hybrid intelligent control, learning control, evolutionary mechanism based control, multi-sensor integration, failure diagnosis, reconfigurable control, etc. Engineers and researchers from academia, industry and the government can gain valuable insights into interdisciplinary solutions in the field of intelligent automation.