Control Theory of Multi-fingered Hands: A Modelling and AnalyticalMechanics Approach for Dexterity and Intelligence 2008 ed. [Kõva köide]

1 Characterisations of Human Hands		1
1.1 What Has Evolved the Human Hand?		1
1.2 Dexterity in Redundancy of Finger Joints		5
1.3 Bernstein's DOF Problems		8
1.4 Physical Principles Underlying Functionality of the Human Arm and Hand		14
1.5 Difficulty in the Development of Everyday Physics		17
1.6 Newton's Laws of Motion		20
1.7 Kinetic Energy of a System of Particles		25
1.8 Kinematics and Dynamics of a Rigid Body		30
1.9 Variational Principle and Lagrange's Equation		32
2 Stability of Grasping in a Static or Dynamic Sense		41
2.1 Immobilisation of 2-D Objects		42
2.2 Force/Torque Closure		44
2.3 Frictional Grasp of 2-D Objects		48
2.4 Rolling Contact Constraint		50
2.5 Testbed Problems for Dynamically Stable Grasp		54
2.6 Blind Grasping and Robustness Problems		65
2.7 Exponential Convergence to Force/Torque Balance		74
3 Testbed Problems to Control a 2-D Object Through Rolling Contact		81
3.1 Stabilisation of Motion of a 2-D Object Through Rolling Contact		82
3.2 Stability Problems under Redundancy of DOFs		89
3.3 Riemannian Distance and Stability on a Manifold		93
3.4 Exponential Convergence for Stabilisation of Rotational Moments		97
3.5 Dynamic Force/Torque Balance Based upon Morse Theory		102
3.6 Minimum DOF for Dynamic Immobilisation of a 2-D Pivoted Object		107
4 Two-dimensional Grasping by a Pair of Rigid Fingers		115
4.1 Dynamics of the Physical Interaction Between Fingers and an Object		115
4.2 Force/Torque Balance		120
4.3 Control Signals for Grasping in a Blind Manner		126
4.4 Construction of Simulators for Object Grasping and Manipulation		133
4.5 Stability of Blind Grasping		135
4.6 Stability on a Manifold and Transferability to the EP Manifold		145
4.7 Experiments of Blind Grasping		151
5 Three-dimensional Grasping by a Pair of Rigid Fingers		155
5.1 Introduction		156
5.2 Non-holonomic Constraints		157
5.3 Three-dimensional Rolling Contact Constraints		160
5.4 Lagrange's Equation for the Overall Fingers—Object System		165
5.5 Physical Meaning of Opposition-based Control Under Rollings		167
5.6 Stability of Blind Grasping under the Circumstances of Weightlessness		171
5.7 Control for Stable Blind Grasping		176
5.8 Numerical Simulation Results		179
5.9 A Mathematical Proof of the Stability of Blind Grasping		184
5.10 Stable Manipulation of a 3-D Rigid Object		189
5.11 Full-DOF Model of 3-D Grasping		191
5.12 Supplementary Results		203
6 Dexterity and Control for Stable Grasping by Soft Fingers		207
6.1 Lumped-Parameterisation of the Behaviours of Soft and Visco-elastic Fingertips		207
6.2 Stabilisation of a 2-D Object by a Single DOF Soft Finger		209
6.3 Stable Grasping of a 2-D Object by Dual Single-DOF Soft Fingers		216
6.4 Convergence to Force/Torque Balance by a Pair of Soft Fingers		227
6.5 Precision Prehension of a 2-D Object under Gravity		237
6.6 Prehension of a 3-D Object by a Pair of Soft Fingers		243
6.7 Dynamics of a Full—Variables Model for 3-D Grasping by Soft Fingers		248
A Mathematical Supplements		257
B A Bibliographic Note on the References		259
References		263
Index		269

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.