Sliding-rolling And In-hand Manipulation - CUI LEI

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 Cesro, To Study The Kinematics Of Two Surfaces Subject To Rolling And Slidingrolling To Demonstrate The Applications In Robotic In-hand Manipulation.firstly, It Explores Two Surfaces, And The Geometry Of Both Surfaces Comes Into Play. Secondly, The Book Focuses On The Geometry Of The Two Surfaces Within The Encompassing Space (extrinsic) Rather Than Within The Surfaces (intrinsic) Because The Book Is Concerned With The Kinematics Of One Surface In Three-dimensional Euclidean Space The Real World.