Download Intelligent Robotics and Applications: Third International by Zhaopeng Chen, Neal Y. Lii, Minghe Jin, Shaowei Fan, Hong PDF

By Zhaopeng Chen, Neal Y. Lii, Minghe Jin, Shaowei Fan, Hong Liu (auth.), Honghai Liu, Han Ding, Zhenhua Xiong, Xiangyang Zhu (eds.)

The marketplace call for for abilities, wisdom and flexibility have situated robotics to be a tremendous box in either engineering and technology. the most hugely obvious functions of robotics has been the robot automation of many business initiatives in factories. sooner or later, a brand new period will are available in which we'll see a better luck for robotics in non-industrial environments. which will count on a much broader deployment of clever and self reliant robots for initiatives reminiscent of production, healthcare, ent- tainment, seek and rescue, surveillance, exploration, and safety missions, it's necessary to push the frontier of robotics right into a new size, one during which movement and intelligence play both very important roles. The 2010 foreign convention on clever Robotics and purposes (ICIRA 2010) used to be held in Shanghai, China, November 10–12, 2010. The subject matter of the c- ference used to be “Robotics Harmonizing Life,” a subject that displays the ever-growing curiosity in learn, improvement and purposes within the dynamic and intriguing parts of clever robotics. those volumes of Springer’s Lecture Notes in synthetic Intel- gence and Lecture Notes in machine technological know-how comprise a hundred and forty high quality papers, that have been chosen not less than for the papers usually periods, with a sixty two% recognition expense usually, ICIRA 2010 holds a sequence of plenary talks, and we have been lucky to have such keynote audio system who shared their services with us in assorted subject components spanning the rang of clever robotics and alertness activities.

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Additional resources for Intelligent Robotics and Applications: Third International Conference, ICIRA 2010, Shanghai, China, November 10-12, 2010. Proceedings, Part I

Sample text

Xue and R. Dillmann n box, the next length used to generate the graspable box is [l × D ]× D . After n a corresponding graspable box with size [w , h , d ] for a bounding box is found, the grasping poses for the object can be accessed directly from the reachability data: [p, φ, w , h , d , Fface , Ffinger ]. e. Finvalid ∩ Fface = ∅. If there is no graspable box which can completely contain a bounding box of the object, the object is too big for the robotic hand to be grasped. Graspable boxes for smaller bounding boxes decomposed from the big bounding box can be found, with which it will be tried to grasp the smaller parts of the object.

10. Grasps of different objects by TH-3L finger After grasping, total changeable forces are exerted by CGF unit. Experiments were designed to testify the CGF effect. A Motorman six-joint robot was used providing a fixed prop hung with a weight beam used to detect the change of the grasping force. A light object here is hung on the weight beam. Firstly, the finger contacts the object and grasps it without large load. Then the motor torque rises so that changeable forces are 24 D. Zhao and W. Zhang generated while the configuration of the finger remains.

The under-actuation mechanism, the CGF unit and the relation between the former two are indicated in next three columns, respectively. The final column gives the position of CGF unit installed in the finger. The design of under-actuation mechanism is so crucial that it determines the performance of the hand. The interference between under-actuation mechanism and CGF units must be eliminated. TH-1 Hand does not have this problem, since the under-actuation and changeable forces are not achieved in the same finger.

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