Jump to ContentJump to Main Navigation
Living machinesA handbook of research in biomimetics and biohybrid systems$
Users without a subscription are not able to see the full content.

Tony J. Prescott, Nathan Lepora, and Paul F.M.J Verschure

Print publication date: 2018

Print ISBN-13: 9780199674923

Published to Oxford Scholarship Online: June 2018

DOI: 10.1093/oso/9780199674923.001.0001

Show Summary Details
Page of

PRINTED FROM OXFORD SCHOLARSHIP ONLINE (www.oxfordscholarship.com). (c) Copyright Oxford University Press, 2019. All Rights Reserved. Under the terms of the licence agreement, an individual user may print out a PDF of a single chapter of a monograph in OSO for personal use (for details see www.oxfordscholarship.com/page/privacy-policy).date: 26 June 2019

Reach, grasp, and manipulate

Reach, grasp, and manipulate

(p.277) Chapter 30 Reach, grasp, and manipulate
Living machines

Mark R. Cutkosky

Oxford University Press

This chapter seeks to identify principles that we can glean from nature regarding the design and operation of hands, and to show how they influence robotic hands and can improve their performance. The need to grasp and manipulate objects is faced by a wide range of animals, from insects to humans. The corresponding variety of solutions is immense, ranging from pincers to hands. However, a number of strategies appear repeatedly including the use of compliant, articulated appendages to achieve a large workspace and the use of automatic responses to tactile stimuli. Mobile robots face similar challenges and can exploit similar solutions. Numerical simulation is useful for analyzing hands that are required to grasp a range of objects and impart desired forces and motions. However, grasp simulation is inherently complex and the design search space is large. Hence, it is useful to examine natural exemplars to guide the design process.

Keywords:   hands, manipulate, tactile sensor, grasp, gripper

Oxford Scholarship Online requires a subscription or purchase to access the full text of books within the service. Public users can however freely search the site and view the abstracts and keywords for each book and chapter.

Please, subscribe or login to access full text content.

If you think you should have access to this title, please contact your librarian.

To troubleshoot, please check our FAQs , and if you can't find the answer there, please contact us .