Mechanics and Control of Soft-fingered Manipulation (eBook)

Shinichi Hirai, Takahiro Inoue (Autoren)

eBook Download: PDF

2008 | 1. Auflage
XVIII, 245 Seiten
Springer London (Verlag)
978-1-84800-981-3 (ISBN)

Infos

'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.

Takahiro Inoue received his MSc and PhD degrees from Ritsumeikan University, Japan. He has received funding from the Japan Society of the Promotion of Science and his current research interests include soft-fingered manipulation, soft object modeling, and MEMS technology.

Shinichi Hirai received his BSc, MSc and doctoral degrees from Kyoto University. He is now a professor in the Department of Robotics at Ritsumeikan University. His previous positions include visiting researcher at Massachusetts Institute of Technology and assistant professor at Osaka University. His current research interests are the modeling and control of deformable structures, real-time computer vision, and soft-fingered manipulation.

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It is well known that the anatomy of our fingers, which consists of soft fingertips and hard fingernails, is well designed for grasping and manipulating objects. 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.Mechanics and Control of Soft-fingered Manipulation uniquely investigates how soft fingertips with hard back plates enhance dexterity in grasping and manipulation, theoretically and experimentally. This approach reveals 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.

Inhalt

Foreword 5
Preface 6
Contents 9
Acronyms 13
Notation 14
Introduction 16
1.1 Goal 16
1.2 A Brief History of Articulated Robot Hands 17
1.3 Overview 26
Observation of Soft-fingered Grasping and Manipulation 27
2.1 Introduction 27
2.2 Object Pinching by a Pair of 1-DOF Fingers 28
2.3 Rotation of a Pinched Object by External Force 30
2.4 Concluding Remarks 31
Elastic Model of a Deformable Fingertip 32
3.1 Introduction 32
3.2 Static Elastic Model of a Hemispherical Soft Fingertip 34
3.3 Comparison with Hertzian Contact 40
3.4 Measurement of Young’s Modulus 41
3.5 Compression Test 42
3.6 Concluding Remarks 45
Fingertip Model with Tangential Deformation 46
4.1 Introduction 46
4.2 Two-dimensional Elastic Energy Model 47
4.3 Formulation of Geometric Constraints 52
4.4 Concluding Remarks 56
Variational Formulations in Mechanics 57
5.1 Introduction 57
5.2 Variational Principles 57
5.3 Numerical Optimization of Energy Functions 63
5.4 Numerical Integration of Equations of Motion 72
5.5 Concluding Remarks 82
Statics of Soft-fingered Grasping and Manipulation 83
6.1 Introduction 83
6.2 Static Analysis Based on Force/Moment Equilibrium 83
6.3 Simulation 84
6.4 Experiments 90
6.5 Concluding Remarks 93
Dynamics of Soft-fingered Grasping and Manipulation 94
7.1 Introduction 94
7.2 Dynamics of Soft-fingered Grasping and Manipulation 94
7.3 Simulation of Soft-fingered Grasping and Manipulation 97
7.4 Simulation Results 102
7.5 Experimental Results 106
7.6 Discussion 109
7.7 Conclusion and Research Perspective 109
Control of Soft-fingered Grasping and Manipulation 111
8.1 Introduction 111
8.2 Equations of Motion of the Two-fingered Hand 112
8.3 Simulations I: Posture Control of a Grasped Object 113
8.4 Simulations II: Responses for Time Delay 123
8.5 Experiments I: Posture Control of a Grasped Object 128
8.6 Experiments II: Responses for Time Delay 134
8.7 Concluding Remarks 142
Geometric and Material Nonlinear Elastic Model 144
9.1 Introduction 144
9.2 Hertzian Contact and Kao’s Elastic Model 144
9.3 Identification of Nonlinear Young’s Modulus 145
9.4 Comparison with Hertzian Contact 147
9.5 Force Comparison 148
9.6 Concluding Remarks 150
Non-Jacobian Control of Robotic Pinch Tasks 151
10.1 Introduction 151
10.2 Kinematic Thumb Models in Previous Studies 152
10.3 Equations of Motion 155
10.4 Simulations 157
10.5 Observations and Discussions 189
10.6 Concluding Remarks 191
Three-dimensional Grasping and Manipulation 192
11.1 Introduction 192
11.2 Quaternions 192
11.3 Spatial Geometric Constraints Between an Object and a Fingertip 199
11.4 Potential Energy of a Fingertip in Three- dimensional Grasping 204
11.5 Grasping and Manipulation by Three 1-DOF Fingers 208
11.6 Concluding Remarks 224
Conclusions 226
12.1 Main Contribution 226
12.2 Future Work 228
Static Modeling of Fingertips 229
A.1 Contact Plane Formula 229
A.2 Spring Constant Formulation 229
A.3 Coordinate Conversion to Derive Fingertip Stiffness 230
A.4 Approximation Method for a Nonlinear Curve 232
Three-dimensional Modeling of Fingertips 234
B.1 Derivatives of Angular Velocity Matrix 234
B.2 Bilinear Form of the Outer Product Matrix 235
B.3 Derivatives of Relative Angle with Respect to Quaternion Elements 236
B.4 Derivatives of Relative Angle with Respect to Finger Angle 237
B.5 Derivative of the Arctangent Function 238
References 240
Index 247

Produkt-Details

• Erscheint lt. Verlag: 28.11.2008
• Zusatzinfo: XVIII, 245 p.
• Verlagsort: London
• Sprache: englisch
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Mathematik / Informatik ► Mathematik ► Statistik
• Themenwelt: Naturwissenschaften ► Physik / Astronomie
• Themenwelt: Technik ► Bauwesen
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: Design • Grasping • Hand • Manipulation • Mechanics • Modeling • robot • Robotics • Simulation • statics
• ISBN-10: 1-84800-981-X / 184800981X
• ISBN-13: 978-1-84800-981-3 / 9781848009813