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Human Inspired Dexterity In Robotic Manipulation

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Human Inspired Dexterity in Robotic Manipulation

Human Inspired Dexterity in Robotic Manipulation Book
Author : Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada
Publisher : Academic Press
Release : 2018-06-26
ISBN : 0128133961
Language : En, Es, Fr & De

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Book Description :

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

Cyber Physical Systems and Control

Cyber Physical Systems and Control Book
Author : Dmitry G. Arseniev,Ludger Overmeyer,Heikki Kälviäinen,Branko Katalinić
Publisher : Springer Nature
Release : 2019-11-29
ISBN : 3030349837
Language : En, Es, Fr & De

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Book Description :

This book presents the proceedings of the International Conference on Cyber-Physical Systems and Control (CPS&C'2019), held in Peter the Great St. Petersburg Polytechnic University, which is celebrating its 120th anniversary in 2019. The CPS&C'2019 was dedicated to the 35th anniversary of the partnership between Peter the Great St. Petersburg Polytechnic University and Leibniz University of Hannover. Cyber-physical systems (CPSs) are a new generation of control systems and techniques that help promote prospective interdisciplinary research. A wide range of theories and methodologies are currently being investigated and developed in this area to tackle various complex and challenging problems. Accordingly, CPSs represent a scientific and engineering discipline that is set to make an impact on future systems of industrial and social scale that are characterized by the deep integration of real-time processing, sensing, and actuation into logical and physical heterogeneous domains. The CPS&C'2019 brought together researchers and practitioners from all over the world and to discuss cross-cutting fundamental scientific and engineering principles that underline the integration of cyber and physical elements across all application fields. The participants represented research institutions and universities from Austria, Belgium, Bulgaria, China, Finland, Germany, the Netherlands, Russia, Syria, Ukraine, the USA, and Vietnam. These proceedings include 75 papers arranged into five sections, namely keynote papers, fundamentals, applications, technologies, and education and social aspects.

Achieving Human like Dexterity in Robotic Hands

Achieving Human like Dexterity in Robotic Hands Book
Author : Taylor D. Niehues
Publisher : Unknown
Release : 2017
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

The human hand's unique biomechanical structure and neuromuscular control combine to produce amazing dexterous capabilities in a way that is still not fully understood. The Anatomically Correct Testbed (ACT) hand is a robotic system that is designed as a physical simulation of the human hand, and can help us examine and potentially uncover the roles of biomechanics and neural control in achieving dexterity. In this dissertation, I utilize the ACT hand and other robotic systems to explore the underlying sources of human hand dexterity, with the goal of understanding the fundamental differences between robotic and human hands in terms of (i) mechanical joint/tendon structure and (ii) control strategies. To begin, I develop comprehensive mechanical models that describe the musculoskeletal and tendon mechanics of the fingers and thumb of the human hand. Then, I work to isolate the contributions of biomechanical structure and neuromuscular control toward human dexterity. I have developed and implemented control strategies for achieving fine object manipulation first with the robotic hand of a space humanoid, Robonaut 2, and then with the ACT hand. I examined the unique control challenges, including uncontrollable joints and the requirement of accurate internal models, that arise due to the human hand's complex musculotendon structure and the potential advantages offered by the human hand's design, such as passive joint coupling to facilitate grasp shape adaptation and force production capabilities that are ideally suited for common manipulation tasks. Finally, inspired by the neuromuscular control strategies of the human hand, I have developed a novel hierarchical control strategy for the ACT hand and experimentally demonstrated improved grasp stability and manipulation capabilities compared to conventional robotic control laws. Through an in-depth exploration of human hand biomechanics and neuromuscular control, theoretical control analysis of robotic and human hands, and experimental demonstration of fine object manipulation, this work uncovers crucial insights into the sources of human hand dexterity that have the potential to drive innovative design and control strategies and bring robotic and prosthetic hands closer to human levels of dexterity.

Tactile Sensors for Robotic Applications

Tactile Sensors for Robotic Applications Book
Author : Salvatore Pirozzi
Publisher : MDPI
Release : 2021-03-17
ISBN : 3036504249
Language : En, Es, Fr & De

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Book Description :

The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

The Human Hand as an Inspiration for Robot Hand Development

The Human Hand as an Inspiration for Robot Hand Development Book
Author : Ravi Balasubramanian,Veronica J. Santos
Publisher : Springer
Release : 2014-01-03
ISBN : 3319030175
Language : En, Es, Fr & De

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Book Description :

“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Human Like Advances in Robotics Motion Actuation Sensing Cognition and Control

Human Like Advances in Robotics  Motion  Actuation  Sensing  Cognition and Control Book
Author : Tadej Petric,Kosta Jovanovic,Toshiaki Tsuji,Calogero Maria Oddo
Publisher : Frontiers Media SA
Release : 2019-12-24
ISBN : 2889632652
Language : En, Es, Fr & De

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Book Description :

Download Human Like Advances in Robotics Motion Actuation Sensing Cognition and Control book written by Tadej Petric,Kosta Jovanovic,Toshiaki Tsuji,Calogero Maria Oddo, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Robotics Research

Robotics Research Book
Author : John M. Hollerbach,Daniel E. Koditscheck
Publisher : Springer Science & Business Media
Release : 2012-12-06
ISBN : 1447107659
Language : En, Es, Fr & De

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Book Description :

This book is the proceedings of the 9th International Symposium of Robotics Research, one of the oldest and most prestigious conferences in robotics. The goal of the symposium was to bring together active, leading robotics researchers from academia, government and industry, to define the state of the art of robotics and its future direction. The broad spectrum of robotics research is covered, with an eye on what will be important in robotics in the next millennium.

Robotics Research

Robotics Research Book
Author : Antonio Bicchi,Wolfram Burgard
Publisher : Springer
Release : 2017-07-24
ISBN : 3319609165
Language : En, Es, Fr & De

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Book Description :

ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. The content of the contributions provides a wide coverage of the current state of robotics research.: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

Human Motion Sensing and Recognition

Human Motion Sensing and Recognition Book
Author : Honghai Liu,Zhaojie Ju,Xiaofei Ji,Chee Seng Chan,Mehdi Khoury
Publisher : Springer
Release : 2017-05-11
ISBN : 3662536927
Language : En, Es, Fr & De

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Book Description :

This book introduces readers to the latest exciting advances in human motion sensing and recognition, from the theoretical development of fuzzy approaches to their applications. The topics covered include human motion recognition in 2D and 3D, hand motion analysis with contact sensors, and vision-based view-invariant motion recognition, especially from the perspective of Fuzzy Qualitative techniques. With the rapid development of technologies in microelectronics, computers, networks, and robotics over the last decade, increasing attention has been focused on human motion sensing and recognition in many emerging and active disciplines where human motions need to be automatically tracked, analyzed or understood, such as smart surveillance, intelligent human-computer interaction, robot motion learning, and interactive gaming. Current challenges mainly stem from the dynamic environment, data multi-modality, uncertain sensory information, and real-time issues. These techniques are shown to effectively address the above challenges by bridging the gap between symbolic cognitive functions and numerical sensing & control tasks in intelligent systems. The book not only serves as a valuable reference source for researchers and professionals in the fields of computer vision and robotics, but will also benefit practitioners and graduates/postgraduates seeking advanced information on fuzzy techniques and their applications in motion analysis.

Mechanics and Control of Soft fingered Manipulation

Mechanics and Control of Soft fingered Manipulation Book
Author : Takahiro Inoue,Shinichi Hirai
Publisher : Springer Science & Business Media
Release : 2008-11-28
ISBN : 184800981X
Language : En, Es, Fr & De

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Book Description :

“Mechanics and Control of Soft-fingered Manipulation” introduces a new approach to the modeling of fingertips that have a soft pad and a hard back plate, similar to human fingers. Starting from the observation of soft-fingered grasping and manipulation, the book provides a parallel distributed model that takes into account tangential deformation of the fingertips. The model is supported with many experimental verifications and simulation results. Statics and dynamics in soft-fingered grasping and manipulation are also formulated based on this new model. The book uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally, revealing the differences between soft-fingered and rigid-fingered manipulation. Researchers involved in object manipulation by robotic hands, as well as in human dexterity in object manipulation, will find this text enlightening.

Towards Autonomous Robotic Systems

Towards Autonomous Robotic Systems Book
Author : Yang Gao,Saber Fallah,Yaochu Jin,Constantina Lekakou
Publisher : Springer
Release : 2017-07-19
ISBN : 3319641077
Language : En, Es, Fr & De

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Book Description :

This book constitutes the refereed proceedings of the 18th Annual Conference on Towards Autonomous Robotics, TAROS 2017, held in Guildford, UK, in July 2017. The 43 revised full papers presented together with 13 short papers were carefully reviewed and selected from 66 submissions. The papers discuss robotics research drawn from a wide and diverse range of topics, such as swarm and multi-robotic systems; human-robot interaction; robotic learning and imitation; robot navigation, planning and safety; humanoid and bio-inspired robots; mobile robots and vehicles; robot testing and design; detection and recognition; learning and adaptive behaviours; interaction; soft and reconfigurable robots; and service and industrial robots.

Biologically Inspired Control of Humanoid Robot Arms

Biologically Inspired Control of Humanoid Robot Arms Book
Author : Adam Spiers,Said Ghani Khan,Guido Herrmann
Publisher : Springer
Release : 2016-05-19
ISBN : 3319301608
Language : En, Es, Fr & De

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Book Description :

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.

Surgical Robotics

Surgical Robotics Book
Author : Jacob Rosen,Blake Hannaford,Richard M. Satava
Publisher : Springer Science & Business Media
Release : 2011-01-15
ISBN : 144191126X
Language : En, Es, Fr & De

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Book Description :

Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.

Advanced Bimanual Manipulation

Advanced Bimanual Manipulation Book
Author : Bruno Siciliano
Publisher : Springer
Release : 2012-04-10
ISBN : 3642290418
Language : En, Es, Fr & De

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Book Description :

Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Cooperating Robots for Flexible Manufacturing

Cooperating Robots for Flexible Manufacturing Book
Author : Sotiris Makris
Publisher : Springer Nature
Release : 2020-09-30
ISBN : 3030515915
Language : En, Es, Fr & De

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Book Description :

This book consolidates the current state of knowledge on implementing cooperating robot-based systems to increase the flexibility of manufacturing systems. It is based on the concrete experiences of experts, practitioners, and engineers in implementing cooperating robot systems for more flexible manufacturing systems. Thanks to the great variety of manufacturing systems that we had the opportunity to study, a remarkable collection of methods and tools has emerged. The aim of the book is to share this experience with academia and industry practitioners seeking to improve manufacturing practice. While there are various books on teaching principles for robotics, this book offers a unique opportunity to dive into the practical aspects of implementing complex real-world robotic applications. As it is used in this book, the term “cooperating robots” refers to robots that either cooperate with one another or with people. The book investigates various aspects of cooperation in the context of implementing flexible manufacturing systems. Accordingly, manufacturing systems are the main focus in the discussion on implementing such robotic systems. The book begins with a brief introduction to the concept of manufacturing systems, followed by a discussion of flexibility. Aspects of designing such systems, e.g. material flow, logistics, processing times, shop floor footprint, and design of flexible handling systems, are subsequently covered. In closing, the book addresses key issues in operating such systems, which concern e.g. decision-making, autonomy, cooperation, communication, task scheduling, motion generation, and distribution of control between different devices. Reviewing the state of the art and presenting the latest innovations, the book offers a valuable asset for a broad readership.

Robot Intelligence Technology and Applications 5

Robot Intelligence Technology and Applications 5 Book
Author : Jong-Hwan Kim,Hyun Myung,Junmo Kim,Weiliang Xu,Eric T Matson,Jin-Woo Jung,Han-Lim Choi
Publisher : Springer
Release : 2018-05-31
ISBN : 3319784528
Language : En, Es, Fr & De

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Book Description :

This book includes papers from the 5th International Conference on Robot Intelligence Technology and Applications held at KAIST, Daejeon, Korea on December 13–15, 2017. It covers the following areas: artificial intelligence, autonomous robot navigation, intelligent robot system design, intelligent sensing and control, and machine vision. The topics included in this book are deep learning, deep neural networks, image understanding, natural language processing, speech/voice/text recognition, reasoning & inference, sensor integration/fusion/perception, multisensor data fusion, navigation/SLAM/localization, distributed intelligent algorithms and techniques, ubiquitous computing, digital creatures, intelligent agents, computer vision, virtual/augmented reality, surveillance, pattern recognition, gesture recognition, fingerprint recognition, animation and virtual characters, and emerging applications. This book is a valuable resource for robotics scientists, computer scientists, artificial intelligence researchers and professionals in universities, research institutes and laboratories.

From Animals to Animats 14

From Animals to Animats 14 Book
Author : Elio Tuci,Alexandros Giagkos,Myra Wilson,John Hallam
Publisher : Springer
Release : 2016-08-09
ISBN : 3319434888
Language : En, Es, Fr & De

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Book Description :

This book constitutes the proceedings of the 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, held in Aberystwyth, UK, in August 2016. The 31 papers presented in this volume were carefully reviewed and selected from 45 submissions. They cover the main areas in animat research, including the animat approach and methodology, perception and motor control, learning and adaptation, evolution, and collective and social behavior.

Haptics Rendering and Applications

Haptics Rendering and Applications Book
Author : Abdulmotaleb El Saddik
Publisher : BoD – Books on Demand
Release : 2012-01-27
ISBN : 9533078979
Language : En, Es, Fr & De

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Book Description :

There has been significant progress in haptic technologies but the incorporation of haptics into virtual environments is still in its infancy. A wide range of the new society's human activities including communication, education, art, entertainment, commerce and science would forever change if we learned how to capture, manipulate and reproduce haptic sensory stimuli that are nearly indistinguishable from reality. For the field to move forward, many commercial and technological barriers need to be overcome. By rendering how objects feel through haptic technology, we communicate information that might reflect a desire to speak a physically- based language that has never been explored before. Due to constant improvement in haptics technology and increasing levels of research into and development of haptics-related algorithms, protocols and devices, there is a belief that haptics technology has a promising future.

Human and Robot Hands

Human and Robot Hands Book
Author : Matteo Bianchi,Alessandro Moscatelli
Publisher : Springer
Release : 2016-02-24
ISBN : 331926706X
Language : En, Es, Fr & De

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Book Description :

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

Robotics Research

Robotics Research Book
Author : Georges Giralt,Gerhard Hirzinger
Publisher : Springer Science & Business Media
Release : 2012-12-06
ISBN : 1447110218
Language : En, Es, Fr & De

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Book Description :

This publication covers all the topics which are relevant to Advanced Robotics today, ranging from Systems Design to Reasoning and Planning. It is based on the Seventh International Symposium on Robotics Research held in Germany on October, 21 - 24th, 1995. The papers were written by specialists in the field from the United States, Europe, Japan, Australia and Canada. The editors, who also chaired this symposium, present the latest research results as well as new approaches to long standing problems. Robotics Research is a contribution to the emerging concepts, methods and tools that shape Robotics. The papers range from pure research reports to application-oriented studies. The topics covered include: manipulation, control, virtual reality, motion planning, 3D vision and industrial systems' issues.