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  • Book
  • © 2013

Grasping in Robotics

Editors:

  1. Giuseppe Carbone

    1. University of Cassino, Cassino, Italy

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  • Gives an historical background to grasping in robotics with the first achievements in this field and its evolution through the centuries

  • Addresses mechanical design issues for both grippers and robotic hands

  • Includes various applications, such as humanoid robots and horticulture harvesting

  • Includes supplementary material: sn.pub/extras

Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 10)

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  • ISBN: 978-1-4471-4664-3
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Table of contents (17 chapters)

  1. Front Matter

    Pages i-viii
    PDF

  2. Background

    1. Front Matter

      Pages 1-1
      PDF

    2. Notes for a History of Grasping Devices

      • Marco Ceccarelli
      Pages 3-16

    3. Stiffness Analysis for Grasping Tasks

      • Giuseppe Carbone
      Pages 17-55

    4. Multibody Dynamics Formulation

      • Parviz E. Nikravesh
      Pages 57-76

    5. Sensors and Methods for the Evaluation of Grasping

      • Antonio Morales, Mario Prats, Javier Felip
      Pages 77-104

  3. Mechanism Design

    1. Front Matter

      Pages 105-105
      PDF

    4. Finger Orientation for Robotic Hands

      • Minzhou Luo
      Pages 159-188

    5. Parallel Wrists for Enhancing Grasping Performance

      • Massimo Callegari, Luca Carbonari, Giacomo Palmieri, Matteo-Claudio Palpacelli
      Pages 189-219

  4. Control and Motion Planning

    1. Front Matter

      Pages 221-221
      PDF

    2. A Survey on Different Control Techniques for Grasping

      • Balaguer Carlos, Gimenez Antonio, Jardón Alberto, Cabas Ramiro, Martinez de la Casa Santiago
      Pages 223-246

    3. Hardware Control System of Robotic Hands

      • Zhan Qiang
      Pages 247-268

    4. Visual Servo Control of Robot Grasping

      • Theodor Borangiu
      Pages 269-304

    5. Path Planning for Grasping Tasks

      • João Carlos Mendes Carvalho, Sezimária F. Pereira Saramago
      Pages 305-328

    6. Grasp and Motion Planning for Humanoid Robots

      • Markus Przybylski, Nikolaus Vahrenkamp, Tamim Asfour, Rüdiger Dillmann
      Pages 329-359

  5. Applications

    1. Front Matter

      Pages 361-361
      PDF

    3. Grasping in Agriculture: State-of-the-Art and Main Characteristics

      • F. Rodríguez, J. C. Moreno, J. A. Sánchez, M. Berenguel
      Pages 385-409
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About this book

Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).
The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and humanoid robotics. It could even be adopted as a reference textbook in specific PhD courses.
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Keywords

  • Finger Orientation
  • Grasping Control
  • Mechanical Design
  • Robotic Hands
  • Robotic Hardware Control
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Editors and Affiliations

  • University of Cassino, Cassino, Italy

    Giuseppe Carbone

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About the editor

Giuseppe Carbone was born in Salerno in 1972. He got a degree cum laude as a mechanical engineer and a PhD degree in mechanical and civil engineering at the University of Cassino in 2000 and 2004, respectively. He is currently Assistant Professor at Laboratory of Robotics and Mechatronics (LARM) in Cassino. He is also Associate Editor of the international journal Robotica. He is Associate Editor for ICRA 2011 and IROS 2011. He is Senior Member of IEEE. He was a visiting scholar at the Humanoid Robotics Institute, Waseda University, Tokyo, Japan, for about one year spread over several periods during the years between 2002 and 2005, also supported by an Italian National Research Council CNR grant. His research interests cover aspects of mechanics of robots, mechanics of manipulation and grasp and mechanics of machinery. He is the author and/or co-author of about 170 papers that have been published in proceedings of national and international conferences or in international journals.
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Bibliographic Information

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Access via your institution
eBook USD 129.00
Price excludes VAT (USA)
  • ISBN: 978-1-4471-4664-3
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book USD 169.99
Price excludes VAT (USA)
Hardcover Book USD 219.99
Price excludes VAT (USA)
Learn about institutional subscriptions