Control of Multifinger Manipulation (Classic Reprint)
Language: English
Published by Forgotten Books, 2022
- Softcover
- New
Seller: Forgotten Books, London, United KingdomForgotten Books
AbeBooks seller since June 2, 2021
Condition: New
US$ 17.35
Quantity: Over 20 available
Add to basketItem description from seller
Print on Demand. This book presents an in-depth analysis of multifingered manipulation and control, focusing on the coordination of finger motions in complex grasping tasks. The author, a leading expert in robotics, examines the problem of distributing forces within a robotic hand to achieve effective object manipulation. Drawing on insights from mechanics, control theory, and optimization, the book provides a comprehensive theoretical framework for understanding and designing multifingered robotic systems. The author explores various approaches to multifingered manipulation, including hybrid force/position control and the concept of virtual fingers. Through detailed mathematical derivations and experimental results, the book offers valuable insights into the challenges and opportunities of multifingered robotics, demonstrating its potential for advancing the field of dexterous manipulation. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book.…
Seller Inventory # 9781332116591_0
- Title
- Control of Multifinger Manipulation (Classic Reprint)
- Author
- J. Demmel, G. Lafferriere
- Publisher
- Forgotten Books
- Publication year
- 2022
- Condition
- New
- Book Type
- print-on-demand item
- Binding
- Paperback
- Language
- English
- ISBN 10
- 1332116590
- ISBN 13
- 9781332116591
- Seller catalogs
- Physics
Dexterous grip control with a four-finger planar manipulator
This书 explains how to control multiple fingers to manipulate a grasped object with precision, using a plan that keeps forces balanced and slips avoided.
This work introduces a closed-loop approach where the object is treated as a virtual finger, allowing finger positions and forces to be computed from a task’s target object motion and interaction forces. It describes phases for planning targets, computing finger commands from a mechanical model, and real-time adjustments to keep the task on track. The study centers on a simple yet versatile planar system called the NYU Four Finger Manipulator, with four independently controlled fingers, force sensors, and position encoders to support force/position control in experiments.- How a grip transformation maps finger forces to object forces and torques, including strategies to ensure slipping is avoided.
- Methods for choosing a point of concurrence for finger forces to minimize friction dependence and maximize stability.
- Practical insights from implementing the approach on a planar four-finger setup, including task scenarios like moving a held object and following a wall with a tool.
- Discussion of sensor and actuator requirements, as well as the balance between theoretical models and real-time control.
"Synopsis" may belong to another edition of this title.
Forgotten Books
London, United Kingdom
AbeBooks seller since June 2, 2021
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Store description
Forgotten Books’ Classic Reprint Series utilizes the latest technology to regenerate facsimiles of historically important writings. Careful attention has been made to accurately preserve the original format of each page whilst digitally enhancing the quality of the aged text.
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FB &c Ltd
Dalton House, 60 Windsor Avenue
London, United Kingdom SW19 2RR
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All books are Print on Demand and will be printed upon purchase and shipped in New Condition. Orders typically ship within 3-5 business days. If you're dissatisfied with your purchase (Incorrect Book/Not as Described/Damaged) or if the order hasn't arrived, you're eligible for a refund within 30 days of the estimated delivery date. If you've changed your mind about a book that you've ordered, please use the ask bookseller a question link to contact us and we'll respond within 2 business days.
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