Intro
Preface
Organization
Contents
Part I
Robotic Dexterous Manipulation
A Spatial Layout Method of Robots Relative to Operating Space Based on Its Flexible Workspace Simulation
1 Introduction
2 Kinematics Analysis Based on Screw Theory
3 Workspace Optimization and Layout of the Six-DOFs Robot
3.1 Workspace Optimization of the Six-DOFs Robot
3.2 Layout of the Six-DOFs Robot
4 Simulation Example and Its Analysis
5 Conclusion and Future Work
References
Hand Posture Reconstruction Through Task-Dependent Hand Synergies
1 Introduction

2 Experiment Description
2.1 Participants
2.2 Apparatus and Experimental Procedure
3 Hand Synergies Extraction
3.1 Grasp Types Clustering
3.2 Task-Dependent Hand Synergies Extraction
4 Results and Discussion
4.1 Clustering Results of the GRASP Taxonomy
4.2 Overall Dependencies Between Finger Joints
4.3 The Joint Contribution to Task-Dependent Hand Synergies
5 Conclusion
References
Application of CG Pseudo-spectral Method to Optimal Posture Adjustment of Robot Manipulator
1 Introduction
2 Problem Formulation
2.1 Dynamic Model of the Robot Manipulator

2.2 Optimal Control
3 CG Pseudo-spectral Method
3.1 The Affine Transformation of Time and Approximation of Variable
3.2 Procedure of Optimization
4 Simulation Results
4.1 Parameters and Objective Settings
4.2 Results of Three Cases
4.3 Discussions
5 Conclusions
References
Semi-autonomous Robotic Manipulation by Tele-Operation with Master-Slave Robots and Autonomy Based on Vision and Force Sensing
1 Introduction
2 Architecture of the Semi-autonomous System
3 Master-Slave Mapping for Teleopertation
4 Identification and Location of Screw Nut by Vision

5 Fitting Screw Nut Based on Force Sensing
6 Implementation and Experiments
7 Conclusion
References
Adaptive Grasping Strategy of Dexterous Hand Based on T-test
1 Introduction
2 Hardware Setup
3 Method
3.1 Slip Detection Algorithm Based on T-test
3.2 Adaptive Grasping Strategy
4 Experimental Evaluation
4.1 Experimental Evaluation of Slip Detection Algorithm
4.2 Experimental Evaluation of Adaptive Grasping Strategy
5 Conclusion
References
Reinforcement Learning Strategy Based on Multimodal Representations for High-Precision Assembly Tasks

1 Introduction
2 Learning Strategy Based on Multimodal Fusion
2.1 Latent Representation
2.2 Pose Estimation Based on Supervised Learning
2.3 Policy Learning
2.4 Controller
3 Simulation and Results Analysis
3.1 Simulation Environment
3.2 Design of Reward Function
3.3 Implementation Details
3.4 Results
4 Conclusions
References
A Scalable Resource Management Architecture for Industrial Fog Robots
1 Introduction
2 Architecture
2.1 Resource Management
2.2 The Architecture
3 Case Study
3.1 Difficulties
3.2 The Proposed Solution
4 Evaluation