https://www.cds.caltech.edu/~murray/mlswiki/index.php?action=history&feed=atom&title=Table_of_Contents_%28first_edition%29 2026-10-13T15:38:32Z Revision history for this page on the wiki MediaWiki 1.35.13 https://www.cds.caltech.edu/~murray/mlswiki/index.php?title=Table_of_Contents_(first_edition)&diff=1374&oldid=prev 2009-06-13T15:53:25Z

<p></p> <p><b>New page</b></p><div>Chapter 1. Introduction<br /> # Brief History<br /> # Multifingered Hands and Dextrous Manipulation<br /> # Outline of the Book<br /> # Bibliography<br /> <br /> Chapter 2. Rigid Body Motion<br /> # Rigid Body Transformations<br /> # Rotational Motion in R^3<br /> # Rigid Motion in R^3<br /> # Velocity of a Rigid Body<br /> # Wrenches and Reciprocal Screws<br /> # Summary<br /> # Bibliography<br /> # Exercises<br /> <br /> Chapter 3. Manipulator Kinematics<br /> # Introduction<br /> # Forward Kinematics<br /> # Inverse Kinematics<br /> # The Manipulator Jacobian<br /> # Redundant and Parallel Manipulators<br /> # Summary<br /> # Bibliography<br /> # Exercises<br /> <br /> Chapter 4. Robot Dynamics and Control<br /> # Introduction<br /> # Lagrange's Equations<br /> # Dynamics for an Open-Chain Manipulator<br /> # Lyapunov Stability Theory<br /> # Position Control and Trajectory Tracking<br /> # Control of Constrained Manipulators<br /> # Summary<br /> # Bibliography<br /> # Exercises<br /> <br /> Chapter 5. Multifingered Hand Kinematics<br /> # Introduction to Grasping<br /> # Grasp Statics<br /> # Force-Closure<br /> # Grasp Planning<br /> # Grasp constraints<br /> # Rolling contact kinematics<br /> # Summary<br /> # Bibliography<br /> # Exercises<br /> <br /> Chapter 6. Hand Dynamics and Control<br /> # Lagrange's Equations with Constraints<br /> # Robot Hand Dynamics<br /> # Redundant and Non-Manipulable Robot Systems<br /> # Kinematics and statics of tendon actuation<br /> # Control of Robot Hands<br /> # Summary<br /> # Bibliography<br /> # Exercises<br /> <br /> Chapter 7. Nonholonomic Behavior in Robotic Systems<br /> # Introduction<br /> # Controllability and the Frobenius theorem<br /> # Examples of Nonholonomic Systems<br /> # Structure of Nonholonomic Systems<br /> # Summary<br /> # Bibliography<br /> # Exercises<br /> <br /> Chapter 8. Nonholonomic Motion Planning<br /> # Introduction<br /> # Steering Model Control Systems Using Sinusoids<br /> # General Methods for Steering<br /> # Dynamic Finger Repositioning<br /> # Summary<br /> # Bibliography<br /> # Exercises<br /> <br /> Chapter 9. Future Prospects<br /> # Robots in Hazardous Environments<br /> # Medical Applications for Multifingered Hands: Millirobotics<br /> # Robots on a Small Scale: Microrobotics<br /> <br /> Appendix A. Lie Groups and Robot Kinematics<br /> # Differentiable Manifolds<br /> # Lie Groups<br /> # The Geometry of the Euclidean Group<br /> <br /> Appendix B. A Mathematica Package for Performing Screw Calculus</div>

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