Robot Hands and the Mechanics of Manipulation explores several aspects of the basic mechanics of grasping, pushing, and in general, manipulating objects. It makes a significant contribution to the understanding of the motion of objects in the presence of friction, and to the development of fine position and force controlled articulated hands capable of doing useful work.  In the book's first section, kinematic and force analysis is applied to the problem of designing and controlling articulated hands for manipulation. The analysis of the interface between fingertip and grasped object then becomes the basis for the specification of acceptable hand kinematics.  A practical result of this work has been the development of the Stanford/JPL robot hand - a tendon-actuated, 9 degree-of-freedom hand which is being used at various laboratories around the country to study the associated control and programming problems aimed at improving robot dexterity.  Chapters in the second section study the characteristics of object motion in the presence of friction. Systematic exploration of the mechanics of pushing leads to a model of how an object moves under the combined influence of the manipulator and the forces of sliding friction. The results of these analyses are then used to demonstrate verification and automatic planning of some simple manipulator operations.  Matthew T. Mason is Assistant Professor of Computer Science at Carnegie-Mellon University, and coeditor of Robot Motion (MIT Press 1983). J. Kenneth Salisbury, Jr. is a Research Scientist at MIT's Artificial Intelligence Laboratory, and president of Salisbury Robotics, Inc.  Robot Hands and the Mechanics of Manipulation is 14th in the Artificial Intelligence Series, edited by Patrick Henry Winston and Michael Brady.

Robot Hands and the Mechanics of Manipulation (Artificial Intelligence) (Artificial Intelligence Series, No. 14)

Computers & Technology

Mason, Matthew T.

Salisbury, J. Kenneth

Computer Science

Mit Pr

The science and engineering of robotic manipulation.
"Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved―grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms.
The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

Mechanics of Robotic Manipulation (Intelligent Robotics and Autonomous Agents)

Bradford Books

"Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved -- grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms.
The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.

Mechanics of Robotic Manipulation (Intelligent Robotics and Autonomous Agents series)

A Bradford Book

2007 Nebraska Book Award "Matt Mason must be declared the Poet Laureate of the Midwest! No other native son celebrates the overlooked America, its unsung citizens (from the anonymous poets to the part-time English teachers), and its expansive indigenous landscape as well as he does. Mason’s poetry is humorous when he wants to be quirky, heartbreaking when he wants to be eloquent, and though he moves effortlessly into other moods and geographies, he always returns to his first and most enduring love (and to what he knows best)—his homeland."—Rigoberto González, Director, National Book Critics Circle

Things We Don't Know We Don't Know

Literature & Fiction

Poetry

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