With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a comprehensive review of robot grasping principles and insights on robot hand designs, and serves as a valuable reference for robotics researchers and practicing robot engineers.
With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a comprehensive review of robot grasping principles and insights on robot hand designs, and serves as a valuable reference for robotics researchers and practicing robot engineers.
Elon Rimon is an Associate Professor in the Department of Mechanical Engineering at the Technion - Israel Institute of Technology, Haifa. He has also been a Visiting Associate Faculty member at the California Institute of Technology. Professor Rimon was a finalist for the best paper award at the IEEE International Conference on Robotics and Automation in 1994 and 1996, for the Workshop on Algorithmic Foundations of Robotics in 2014 and 2016, and awarded best paper presentation at the Robotics Science and Systems Conference in 2013.
Inhaltsangabe
1. Introduction and overview Part I. Basic Geometry of the Grasping Process: 2. Rigid-body configuration space 3. Configuration space tangent and cotangent vectors 4. Rigid body equilibrium grasps 5. A catalog of equilibrium grasps Part II. Frictionless Rigid Body Grasps and Stances: 6. Introduction to secure grasps 7. First-order immobilizing grasps 8. Second-order immobilizing grasps 9. Minimal immobilizing grasps 10. Multi-finger caging grasps 11. Frictionless hand supported stances under gravity Part III. Frictional Rigid-Body Grasps, Fixtures, and Stances: 12. Wrench resistant grasps 13. Grasp quality functions 14. Hand supported stances under gravity - Part I 15. Hand supported stances under gravity - Part II Part IV. Grasping Mechanisms: 16. The kinematics and mechanics of grasping mechanisms 17. Grasp manipulability 18. Hand mechanism compliance Appendices Index.
1. Introduction and overview Part I. Basic Geometry of the Grasping Process: 2. Rigid-body configuration space 3. Configuration space tangent and cotangent vectors 4. Rigid body equilibrium grasps 5. A catalog of equilibrium grasps Part II. Frictionless Rigid Body Grasps and Stances: 6. Introduction to secure grasps 7. First-order immobilizing grasps 8. Second-order immobilizing grasps 9. Minimal immobilizing grasps 10. Multi-finger caging grasps 11. Frictionless hand supported stances under gravity Part III. Frictional Rigid-Body Grasps, Fixtures, and Stances: 12. Wrench resistant grasps 13. Grasp quality functions 14. Hand supported stances under gravity - Part I 15. Hand supported stances under gravity - Part II Part IV. Grasping Mechanisms: 16. The kinematics and mechanics of grasping mechanisms 17. Grasp manipulability 18. Hand mechanism compliance Appendices Index.
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