Robotic gras** and contact: a review Page 1 Robotic Gras** and Contact: A Review
Antonio Bicchi Centro “E. Piaggio University of Pisa 56126 Pisa Italy bicchi@ing.unipi.it …

In this paper, an attempt at summarizing the evolution and the state of the art in the field of
robot hands is made. In such exposition, a critical evaluation of what in the author's view are …

Heavy-duty legged robots have been regarded as one of the important developments in the
field of legged robots because of their high payload-total mass ratio, terrain adaptability, and …

This article presents a survey of the existing computational algorithms meant for achieving
four important properties in autonomous multifingered robotic hands. The four properties …

We formulate the kinematic equations of motion of wheeled mobile robots incorporating
conventional, omnidirectional, and ball wheels. 1 We extend the kinematic modeling of …

Multibody systems are the appropriate models for predicting and evaluating performance of
a variety of dynamical systems such as spacecraft, vehicles, mechanisms, robots or …

A key goal in dextrous robotic hand gras** is to balance external forces and at the same
time achieve grasp stability and minimum gras** energy by choosing an appropriate set of …

The authors discuss a general and systematic computational scheme of the inverse
dynamics of closed-link mechanisms. It is derived by using d'Alembert's principle and …

When a person picks up a metal part and clamps it in the chuck of a lathe, he begins with his
arm, proceeds with his wrist and finishes with his fingers. The arm brings the part near the …

Driven by the need to achieve superior control performances for robots with hyper degrees
of freedom, the virtual decomposition control approach is thoroughly presented in this book …