SLIDING-ROLLING CONTACT AND IN-HAND MANIPULATION

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 Élie Cartan, and the adjoint approach, conceived by Ernesto Cesàro, 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 of both surfaces comes into play. Secon...