Springer, 2007, 271 pages. This book presents a comprehensive
insight into the intelligence and dexterity of robotic
multi-fingered hands from both the physical and control- theoretic
viewpoints. The book: a) focuses on the problem of how to control
dexterous movements of fingers interacting with an object in the
execution of everyday tasks; b) clarifies what kinds of
sensory-motor coordinated signals are necessary and sufficient for
realising stable grasping and/or object manipulation, in
particular, the synergistic choices of control gains in
co-activation signals for finger muscles and tendons crucial in
realising secure pinching motions; c) derives a mathematical model
of the dynamics of a complicated mechanism of multiple fingers with
multiple joints physically interacting; and, d) considers the
problem of how to recreate the function of "blind grasping". The
book will be a useful reference for postgraduate students and
researchers in this field, as well as engineers and roboticists.
Arimoto S. Control Theory of Multi-fingered Hands
- формат pdf
- размер 4.82 МБ
- добавлен 06 мая 2009 г.
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