# Table of Contents (first edition)

From MLSwiki

Chapter 1. Introduction

- Brief History
- Multifingered Hands and Dextrous Manipulation
- Outline of the Book
- Bibliography

Chapter 2. Rigid Body Motion

- Rigid Body Transformations
- Rotational Motion in R^3
- Rigid Motion in R^3
- Velocity of a Rigid Body
- Wrenches and Reciprocal Screws
- Summary
- Bibliography
- Exercises

Chapter 3. Manipulator Kinematics

- Introduction
- Forward Kinematics
- Inverse Kinematics
- The Manipulator Jacobian
- Redundant and Parallel Manipulators
- Summary
- Bibliography
- Exercises

Chapter 4. Robot Dynamics and Control

- Introduction
- Lagrange's Equations
- Dynamics for an Open-Chain Manipulator
- Lyapunov Stability Theory
- Position Control and Trajectory Tracking
- Control of Constrained Manipulators
- Summary
- Bibliography
- Exercises

Chapter 5. Multifingered Hand Kinematics

- Introduction to Grasping
- Grasp Statics
- Force-Closure
- Grasp Planning
- Grasp constraints
- Rolling contact kinematics
- Summary
- Bibliography
- Exercises

Chapter 6. Hand Dynamics and Control

- Lagrange's Equations with Constraints
- Robot Hand Dynamics
- Redundant and Non-Manipulable Robot Systems
- Kinematics and statics of tendon actuation
- Control of Robot Hands
- Summary
- Bibliography
- Exercises

Chapter 7. Nonholonomic Behavior in Robotic Systems

- Introduction
- Controllability and the Frobenius theorem
- Examples of Nonholonomic Systems
- Structure of Nonholonomic Systems
- Summary
- Bibliography
- Exercises

Chapter 8. Nonholonomic Motion Planning

- Introduction
- Steering Model Control Systems Using Sinusoids
- General Methods for Steering
- Dynamic Finger Repositioning
- Summary
- Bibliography
- Exercises

Chapter 9. Future Prospects

- Robots in Hazardous Environments
- Medical Applications for Multifingered Hands: Millirobotics
- Robots on a Small Scale: Microrobotics

Appendix A. Lie Groups and Robot Kinematics

- Differentiable Manifolds
- Lie Groups
- The Geometry of the Euclidean Group

Appendix B. A Mathematica Package for Performing Screw Calculus