The Mechanics of Robot Grasping

Erscheinungsjahr 2025
ISBN: 978-1-108-42790-6
Verlag: Cambridge University Press

Buch, Englisch, 506 Seiten, Format (B × H): 175 mm x 250 mm, Gewicht: 1047 g

In this comprehensive textbook about robot grasping, readers will discover an integrated look at the major concepts and technical results in robot grasp mechanics. A large body of prior research, including key theories, graphical techniques, and insights on robot hand designs, is organized into a systematic review, using common notation and a common analytical framework. With introductory and advanced chapters that support senior undergraduate and graduate level robotics courses, this book provides a full introduction to robot grasping principles that are needed to model and analyze multi-finger robot grasps, and serves as a valuable reference for robotics students, researchers, and practicing robot engineers. Each chapter contains many worked-out examples, exercises with full solutions, and figures that highlight new concepts and help the reader master the use of the theories and equations presented.

Autoren/Hrsg.

Rimon, Elon

Burdick, Joel

Fachgebiete

• Technische Wissenschaften Technik Allgemein Technik: Allgemeines
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz
• Mathematik | Informatik EDV | Informatik Informatik Mensch-Maschine-Interaktion

Inhaltsverzeichnis

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.

Über Autor(innen)

Rimon, Elon
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.

Burdick, Joel
Joel Burdick is the the Richard L. and Dorothy M. Hayman Professor of Mechanical Engineering and Bioengineering at the California Institute of Technology, where he has received the NSF Presidential Young Investigator award, the Office of Naval Research Young Investigator award, and the Feynman fellowship. He has been a finalist for the best paper award for the IEEE International Conference on Robotics and Automation in 1993, 1999, 2000, 2005, and 2016. Professor Burdick received the Popular Mechanics Breakthrough award in 2011.