Sliding-Rolling Contact and In-Hand Manipulation

by Jian S Dai and Lei Cui

Robots interact with the world through curves and surfaces -- the subjects of study in differential geometry. This book applies the moving-frame method, developed extensively by lie Cartan, and the adjoint approach, conceived by Ernesto Ces ro, to study the kinematics of two surfaces subject to rolling contact and sliding-rolling contact to demonstrate the applications in robotic in-hand manipulation.Firstly, it explores two surfaces, and the geometry...

• Format: Hardcover
• Language: English
• ISBN: 178634842X
• ISBN13: 9781786348425
• Release Date: March 2020
• Publisher: World Scientific Publishing Europe Ltd
• Length: 224 Pages
• Weight: 1.03 lbs.
• Dimensions: 0.6" x 6.0" x 9.0"