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From robot to human grasping simulation / / Beatriz Leon, Antonio Morales, Joaquin Sancho-Bru
| From robot to human grasping simulation / / Beatriz Leon, Antonio Morales, Joaquin Sancho-Bru |
| Autore | León Beatriz |
| Edizione | [1st ed. 2014.] |
| Pubbl/distr/stampa | Cham, Switzerland : , : Springer, , 2014 |
| Descrizione fisica | 1 online resource (x, 261 pages) : illustrations (some color) |
| Disciplina |
006.3
629.892 |
| Collana | Cognitive Systems Monographs |
| Soggetto topico | Robot hands |
| ISBN | 3-319-01833-7 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
""Preface""; ""Contents""; ""1 Introduction""; ""1.1 The Grasping Process""; ""1.1.1 Grasping in Biomechanics""; ""1.1.2 Grasping in Robotics""; ""1.2 Simulation: A Tool Towards Understanding the Grasping Process""; ""1.3 From Robot to Human Grasping Simulation""; ""1.4 Outline""; ""1.4.1 Part I: Robot Grasping Simulation""; ""1.4.2 Part II: Human Grasping Simulation""; ""References""; ""Part IRobot Grasping Simulation""; ""2 Robot Grasping Foundations""; ""2.1 Introduction""; ""2.2 Contact Modelling""; ""2.2.1 Contact Kinematics""; ""2.2.2 Contact Models""; ""2.2.3 Selection Matrices""
""2.3 Grasp Analysis""""2.3.1 Grasp Matrix and Hand Jacobian""; ""2.3.2 Disturbance Resistance""; ""2.3.3 Optimal Contact Forces Computation""; ""2.4 Grasp Synthesis""; ""References""; ""3 Robot Grasping Simulation""; ""3.1 Introduction""; ""3.1.1 Requirements for a Grasp Simulator""; ""3.1.2 Related Work""; ""3.2 OpenRAVE""; ""3.2.1 The Core Layer""; ""3.2.2 The Scripting Layer""; ""3.2.3 The Plugins Layer""; ""3.2.4 Object Manipulation in OpenRAVE""; ""3.3 OpenGRASP: Simulation Toolkit""; ""3.3.1 Developed Plugins""; ""3.3.2 Physics Simulation""; ""3.3.3 File Format for Robot Models"" ""3.3.4 Robot Editor""""3.3.5 Robot Models""; ""3.4 Simulated Tactile Sensor""; ""3.4.1 Related Work""; ""3.4.2 Tactile Sensor Model""; ""3.4.3 Contact Force Model""; ""3.4.4 Tactile Sensor Plugin""; ""3.4.5 Experiments on Robot Grasping""; ""3.4.6 Discussion""; ""3.5 Conclusion""; ""References""; ""4 Applications of Robot Grasping Simulation""; ""4.1 Introduction""; ""4.2 Grasping Known Objects: Existing Approaches""; ""4.2.1 Grasp Hypothesis Database""; ""4.2.2 OpenRAVE Grasping Pipeline""; ""4.3 Grasping Known Objects: Using Uncertainty Metric MOOM""; ""4.3.1 Related Work"" ""4.3.2 MOOM: Model-Object Overlap Metric""""4.3.3 Grasping Pipeline""; ""4.3.4 Experimental Setup and Evaluation""; ""4.3.5 Discussion""; ""4.4 Grasping Unknown Objects: Using Symmetry Assumptions""; ""4.4.1 Predicting Object Shape Through Symmetry""; ""4.4.2 Grasping Pipeline""; ""4.4.3 Experiments""; ""4.4.4 Discussion""; ""4.5 Grasping Familiar Objects: Using Task Constraints""; ""4.5.1 Grasping Pipeline""; ""4.5.2 Experiments""; ""4.5.3 Discussion""; ""4.6 Dynamic Grasping Simulation""; ""4.6.1 Implementation""; ""4.6.2 Experimental Setup""; ""4.6.3 Results""; ""4.6.4 Discussion"" ""4.7 Conclusion""""References""; ""Part IIHuman Grasping Simulation""; ""5 The Model of the Human Hand""; ""5.1 Introduction""; ""5.2 Literature Review""; ""5.2.1 Biomechanical Models of the Hand""; ""5.2.2 Hand Models in Ergonomics""; ""5.2.3 Grasping in Robotics""; ""5.3 Hand Model Proposed for the Study of Grasp""; ""5.4 Anatomy of the Hand: Terminology""; ""5.5 Biomechanical Model""; ""5.5.1 Kinematics""; ""5.5.2 Musculo-tendon Action""; ""5.5.3 Ligaments""; ""5.5.4 Soft Contact Model""; ""5.5.5 Skin Model""; ""5.5.6 Closure Algorithm""; ""5.5.7 Neuromuscular Control"" ""5.6 Simulation Framework for Human Hand Grasping"" |
| Record Nr. | UNINA-9910299475003321 |
León Beatriz
|
||
| Cham, Switzerland : , : Springer, , 2014 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Fusion of hard and soft control strategies for the robotic hand / / Cheng-Hung Chen, Desineni Subbaram Naidu
| Fusion of hard and soft control strategies for the robotic hand / / Cheng-Hung Chen, Desineni Subbaram Naidu |
| Autore | Chen Cheng-Hung |
| Pubbl/distr/stampa | Hoboken, New Jersey : , : IEEE Press : , : Wiley, , 2017 |
| Descrizione fisica | 1 online resource (239 pages) : illustrations (some color), tables |
| Disciplina | 629.892 |
| Collana | IEEE press series on systems science and engineering |
| Soggetto topico | Robot hands |
| ISBN |
1-119-27361-7
1-119-27360-9 1-119-27362-5 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
FUSION OF HARD AND SOFT CONTROL STRATEGIES FOR THE ROBOTIC HAND; Contents; List of Tables; List of Figures; 1 Introduction; 1.1 Relevance to Military; 1.2 Control Strategies; 1.2.1 Prosthetic/Robotic Hands; 1.2.2 Chronological Overview; 1.2.3 Overview of Main Control Techniques Since 2007; 1.2.4 Revolutionary Prosthesis; 1.3 Fusion of Intelligent Control Strategies; 1.3.1 Fusion of Hard and Soft Computing/Control Strategies; 1.4 Overview of Our Research; 1.5 Developments in Neuroprosthetics; 1.6 Chapter Summary; 2 Kinematics and Trajectory Planning; 2.1 Human Hand Anatomy
2.2 Forward Kinematics2.2.1 Homogeneous Transformations; 2.2.2 Serial n Link Revolute Joint Planar Manipulator; 2.2.3 Two Link Thumb; 2.2.4 Three Link Index Finger; 2.2.5 Three Dimensional Five Fingered Robotic Hand; 2.3 Inverse Kinematics; 2.3.1 Two Link Thumb; 2.3.2 Three Link Fingers; 2.3.3 Fingertip Workspace; 2.3.3.1 Two Link Thumb and Three Link Index Finger; 2.3.3.2 Five Fingered Robotic Hand; 2.4 Differential Kinematics; 2.4.1 Serial Link Revolute Joint Planar Manipulator; 2.4.1.1 Some Properties of Rotation Matrices; 2.4.1.2 Rigid Body Kinematics; 2.4.2 Two Link Thumb 2.4.3 Three Link Index Finger2.5 Trajectory Planning; 2.5.1 Trajectory Planning Using Cubic Polynomial; 2.5.2 Trajectory Planning Using Cubic Bâezier Curve; 2.5.3 Simulation Results of Trajectory Paths; 3 Dynamic Models; 3.1 Actuators; 3.1.1 Electric DC Motor; 3.1.2 Mechanical Gear Transmission; 3.2 Dynamics; 3.3 Two Link Thumb; 3.4 Three Link Index Finger; 4 Soft Computing/Control Strategies; 4.1 Fuzzy Logic; 4.2 Neural Network; 4.3 Adaptive Neuro Fuzzy Inference System; 4.4 Tabu Search; 4.4.1 Tabu Concepts; 4.4.2 Enhanced Continuous Tabu Search; 4.4.2.1 Initialization of Parameters 4.4.2.2 Diversification4.4.2.3 Selecting the Most Promising Area; 4.4.2.4 Intensification; 4.5 Genetic Algorithm; 4.5.1 Basic GA Procedures; 4.6 Particle Swarm Optimization; 4.6.1 Basic PSO Procedures and Formulations; 4.6.2 Five Different PSO Techniques; 4.6.3 Uniform Distribution and Normal Distribution; 4.7 Adaptive Particle Swarm Optimization; 4.7.1 APSO Procedures and Formulations; 4.7.2 Changed/Unchanged Velocity Direction; 4.8 Condensed Hybrid Optimization; 4.9 Simulation Results and Discussion; 4.9.1 PSO Dynamics Investigation; 4.9.1.1 Benchmark Problems 4.9.1.2 Selection of Parameters4.9.1.3 Simulations; 4.9.2 APSO to Multiple Dimensional Problems; 4.9.3 PSO in Other Biomedical Applications; 4.9.3.1 Leukocyte Adhesion Molecules Modeling; 4.9.4 CHO to Multiple Dimensional Problems; 5 Fusion of Hard and Soft Control Strategies I; 5.1 Feedback Linearization; 5.1.1 State Variable Representation; 5.2 PD/PI/PID Controllers; 5.2.1 PD Controller; 5.2.2 PI Controller; 5.2.3 PID Controller; 5.3 Optimal Controller; 5.3.1 Optimal Regulation; 5.3.2 Linear Quadratic Optimal Control with Tracking System |
| Record Nr. | UNINA-9910270866303321 |
|
Chen Cheng-Hung
|
||
| Hoboken, New Jersey : , : IEEE Press : , : Wiley, , 2017 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Fusion of hard and soft control strategies for the robotic hand / / Cheng-Hung Chen, Desineni Subbaram Naidu
| Fusion of hard and soft control strategies for the robotic hand / / Cheng-Hung Chen, Desineni Subbaram Naidu |
| Autore | Chen Cheng-Hung |
| Pubbl/distr/stampa | Hoboken, New Jersey : , : IEEE Press : , : Wiley, , 2017 |
| Descrizione fisica | 1 online resource (239 pages) : illustrations (some color), tables |
| Disciplina | 629.892 |
| Collana | IEEE press series on systems science and engineering |
| Soggetto topico | Robot hands |
| ISBN |
1-119-27361-7
1-119-27360-9 1-119-27362-5 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Nota di contenuto |
FUSION OF HARD AND SOFT CONTROL STRATEGIES FOR THE ROBOTIC HAND; Contents; List of Tables; List of Figures; 1 Introduction; 1.1 Relevance to Military; 1.2 Control Strategies; 1.2.1 Prosthetic/Robotic Hands; 1.2.2 Chronological Overview; 1.2.3 Overview of Main Control Techniques Since 2007; 1.2.4 Revolutionary Prosthesis; 1.3 Fusion of Intelligent Control Strategies; 1.3.1 Fusion of Hard and Soft Computing/Control Strategies; 1.4 Overview of Our Research; 1.5 Developments in Neuroprosthetics; 1.6 Chapter Summary; 2 Kinematics and Trajectory Planning; 2.1 Human Hand Anatomy
2.2 Forward Kinematics2.2.1 Homogeneous Transformations; 2.2.2 Serial n Link Revolute Joint Planar Manipulator; 2.2.3 Two Link Thumb; 2.2.4 Three Link Index Finger; 2.2.5 Three Dimensional Five Fingered Robotic Hand; 2.3 Inverse Kinematics; 2.3.1 Two Link Thumb; 2.3.2 Three Link Fingers; 2.3.3 Fingertip Workspace; 2.3.3.1 Two Link Thumb and Three Link Index Finger; 2.3.3.2 Five Fingered Robotic Hand; 2.4 Differential Kinematics; 2.4.1 Serial Link Revolute Joint Planar Manipulator; 2.4.1.1 Some Properties of Rotation Matrices; 2.4.1.2 Rigid Body Kinematics; 2.4.2 Two Link Thumb 2.4.3 Three Link Index Finger2.5 Trajectory Planning; 2.5.1 Trajectory Planning Using Cubic Polynomial; 2.5.2 Trajectory Planning Using Cubic Bâezier Curve; 2.5.3 Simulation Results of Trajectory Paths; 3 Dynamic Models; 3.1 Actuators; 3.1.1 Electric DC Motor; 3.1.2 Mechanical Gear Transmission; 3.2 Dynamics; 3.3 Two Link Thumb; 3.4 Three Link Index Finger; 4 Soft Computing/Control Strategies; 4.1 Fuzzy Logic; 4.2 Neural Network; 4.3 Adaptive Neuro Fuzzy Inference System; 4.4 Tabu Search; 4.4.1 Tabu Concepts; 4.4.2 Enhanced Continuous Tabu Search; 4.4.2.1 Initialization of Parameters 4.4.2.2 Diversification4.4.2.3 Selecting the Most Promising Area; 4.4.2.4 Intensification; 4.5 Genetic Algorithm; 4.5.1 Basic GA Procedures; 4.6 Particle Swarm Optimization; 4.6.1 Basic PSO Procedures and Formulations; 4.6.2 Five Different PSO Techniques; 4.6.3 Uniform Distribution and Normal Distribution; 4.7 Adaptive Particle Swarm Optimization; 4.7.1 APSO Procedures and Formulations; 4.7.2 Changed/Unchanged Velocity Direction; 4.8 Condensed Hybrid Optimization; 4.9 Simulation Results and Discussion; 4.9.1 PSO Dynamics Investigation; 4.9.1.1 Benchmark Problems 4.9.1.2 Selection of Parameters4.9.1.3 Simulations; 4.9.2 APSO to Multiple Dimensional Problems; 4.9.3 PSO in Other Biomedical Applications; 4.9.3.1 Leukocyte Adhesion Molecules Modeling; 4.9.4 CHO to Multiple Dimensional Problems; 5 Fusion of Hard and Soft Control Strategies I; 5.1 Feedback Linearization; 5.1.1 State Variable Representation; 5.2 PD/PI/PID Controllers; 5.2.1 PD Controller; 5.2.2 PI Controller; 5.2.3 PID Controller; 5.3 Optimal Controller; 5.3.1 Optimal Regulation; 5.3.2 Linear Quadratic Optimal Control with Tracking System |
| Record Nr. | UNINA-9910830869003321 |
|
Chen Cheng-Hung
|
||
| Hoboken, New Jersey : , : IEEE Press : , : Wiley, , 2017 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
A roadmap to progress measurement science in robot dexterity and manipulation / / Joe Falco; Jeremy Marvel; Elena Messina
| A roadmap to progress measurement science in robot dexterity and manipulation / / Joe Falco; Jeremy Marvel; Elena Messina |
| Pubbl/distr/stampa | Gaithersburg, MD : , : U.S. Dept. of Commerce, National Institute of Standards and Technology, , 2014 |
| Descrizione fisica | 1 online resource (6 pages) : illustrations (black and white) |
| Altri autori (Persone) |
FalcoJoe
MarvelJeremy MessinaE. R (Elena R.) |
| Collana | NISTIR |
| Soggetto topico |
Robot hands
Robot wrists |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910709591303321 |
| Gaithersburg, MD : , : U.S. Dept. of Commerce, National Institute of Standards and Technology, , 2014 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Robot Arms / / edited by Satoru Goto
| Robot Arms / / edited by Satoru Goto |
| Pubbl/distr/stampa | Croatia : , : IntechOpen, , 2011 |
| Descrizione fisica | 1 online resource (274 pages). : illustrations |
| Disciplina | 629.892 |
| Soggetto topico | Robot hands |
| ISBN | 953-51-6011-7 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| Record Nr. | UNINA-9910137707703321 |
| Croatia : , : IntechOpen, , 2011 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Soggetto topico
-
Robot hands
(5)
- Robot wrists (1)