Page 205 - Human Inspired Dexterity in Robotic Manipulation

204 Index

Dual-arm manipulator, 187–188 embedded gripper, versatile
motions, 193 grasping by, 136–144
Ductile objects, prevention of enveloping mode, 139, 139–141f
fracture on, 125–135 grasping test, 125, 126f
Dynamic environment, 62–63 parallel gripper mode, 139, 139–141f
reaching movement in, 62f,64–65 pinching mode, 139, 139–141f
Dynamics of robots, 6 and soft object (tofu), interaction,
130f
stiffness of, 118–120, 118f
E structure of, 116–118, 116–117f
Elastic joint, 98–99 underactuated soft gripper utilizing,
Electromyography (EMG) signals, 90 136–140, 136f, 138f
Endoscopic surgical robot, 53 uniform contact pressure of, 120–125
Equation of motion, for robotics, 6 Fluid pressure detection, 129–132, 132f
Error-based learning, 29 Forward internal models, 29
Euler-Lagrange equation, 64–65 Fracture avoidance concept, 126–128
Extensor tendons, 94–96, 94f,96f Fragile objects, prevention of
fracture on, 125–135
Frictional-point contact model, 152
F Friction-cone model, 152
Finger-object system, dynamics and
equilibrium points of, 153–154
Fingers, active movements of, 14 G
Finger-thumb opposability Generalization, 30–31, 41–42
control law based on, 170–174 Grasp(ing), 149–150
conditions for convergence of desired blind, 162
state, 173–174 controller, 149
control input, 171–173 multifingered hand-arm system, 167–168,
time delays, 170–171, 171f 168f
Fingertip planner, 188–189
contact models of, 153f posture, 22
fluid (see Fluid fingertip) power, 150
trajectories, biomimetic robotic hand precision (see Precision grasp)
performance, 108–111, 108–110f stable-object, 165–167
Flexible object, 62 style, 5, 5f
multimass, 72 superposition of lower priority tasks to
parallel, 63, 81 stable, 158–159, 159f
single mass, 63 test, 125, 126f, 141f, 142t
two-mass, 63, 72–73 for soft (Kinugoshi) tofu, 134, 134f,
Flexor tendons, 94–96, 94f,96f 135t
Fluid fingertip weight, 5
compression test with, 119f, 128–129, Grasping and manipulation, 165–167
128–129f experiments, 179–183, 180t,
contact with flat surface, 120–123, 181–183f
121–122f numerical simulation, 174–179,
contact with line surface, 123–125, 175–176t, 177–179f
123–125f supervisory control and autonomy of,
and control unit, 118f 159–162, 160–161f