Springer Tracts in Advanced Robotics

Approaching Human Performance

The Functionality-Driven Awiwi Robot Hand

Authors: Grebenstein, Markus

  • Addresses a wide range of topics in robotics through a new approach to an anthropomorphic robot, which can be extended to system design
  • Presents functional analyses of both human and robotic hands, which forms the basis of the robot hand design and helps to distill a set of comprehensive guidelines for robot hand designers
  • Proves that the kinematics designed using this approach achieve a new paradigm in grasp performance by matching full sets of well know grasp taxonomies
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eBook $84.99
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  • ISBN 978-3-319-03593-2
  • Digitally watermarked, DRM-free
  • Included format: PDF
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  • Immediate eBook download after purchase
Hardcover $109.00
price for USA
  • ISBN 978-3-319-03592-5
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $109.00
price for USA
  • Customers within the U.S. and Canada please contact Customer Service at 1-800-777-4643, Latin America please contact us at +1-212-460-1500 (Weekdays 8:30am – 5:30pm ET) to place your order.
  • Due: October 14, 2016
  • ISBN 978-3-319-34712-7
  • Free shipping for individuals worldwide
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
About this book

 

Humanoid robotics have made remarkable progress since the dawn of robotics. So why don't we have humanoid robot assistants in day-to-day life yet? This book analyzes the keys to building a successful humanoid robot for field robotics, where collisions become an unavoidable part of the game. The author argues that the design goal should be real anthropomorphism, as opposed to mere human-like appearance. He deduces three major characteristics to aim for when designing a humanoid robot, particularly robot hands:

- Robustness against impacts

- Fast dynamics

- Human-like grasping and manipulation performance

Instead of blindly copying human anatomy, this book opts for a holistic design methodology. It analyzes human hands and existing robot hands to elucidate the important functionalities that are the building blocks toward these necessary characteristics. They are the keys to designing an anthropomorphic robot hand, as illustrated in the high performance anthropomorphic Awiwi Hand presented in this book.

This is not only a handbook for robot hand designers. It gives a comprehensive survey and analysis of the state of the art in robot hands as well as the human anatomy. It is also aimed at researchers and roboticists interested in the underlying functionalities of hands, grasping and manipulation.

The methodology of functional abstraction is not limited to robot hands, it can also help realize a new generation of humanoid robots to accommodate a broader spectrum of the needs of human society.

Table of contents (6 chapters)

  • Introduction

    Grebenstein, Markus

    Pages 1-9

  • Analysis of the Current State of Robot Hands

    Grebenstein, Markus

    Pages 11-37

  • Analysis of the Human Hand

    Grebenstein, Markus

    Pages 39-63

  • The Awiwi Hand: An Artificial Hand for the DLR Hand Arm System

    Grebenstein, Markus

    Pages 65-130

  • Results

    Grebenstein, Markus

    Pages 131-148

Buy this book

eBook $84.99
price for USA (gross)
  • ISBN 978-3-319-03593-2
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $109.00
price for USA
  • ISBN 978-3-319-03592-5
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $109.00
price for USA
  • Customers within the U.S. and Canada please contact Customer Service at 1-800-777-4643, Latin America please contact us at +1-212-460-1500 (Weekdays 8:30am – 5:30pm ET) to place your order.
  • Due: October 14, 2016
  • ISBN 978-3-319-34712-7
  • Free shipping for individuals worldwide
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Approaching Human Performance
Book Subtitle
The Functionality-Driven Awiwi Robot Hand
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
98
Copyright
2014
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-03593-2
DOI
10.1007/978-3-319-03593-2
Hardcover ISBN
978-3-319-03592-5
Softcover ISBN
978-3-319-34712-7
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XXXIV, 209
Number of Illustrations and Tables
31 b/w illustrations, 133 illustrations in colour
Topics