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1、MechanismsandMachineScienceVolume10SeriesEditorMarcoCeccarelliForfurthervolumes:http://www.springer.com/series/8779GiuseppeCarboneEditorGraspinginRobotics123EditorGiuseppeCarboneUniversityofCassinoCassinoItalyISSN2211-0984ISSN2211-0992(electronic)ISBN978-1-4471-4663-6ISBN978-1-4471-4664-3(eBook
2、)DOI10.1007/978-1-4471-4664-3SpringerLondonHeidelbergNewYorkDordrechtLibraryofCongressControlNumber:2012952025ÓSpringer-VerlagLondon2013Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reus
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4、onwithreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredandexecutedonacomputersystem,forexclusiveusebythepurchaserofthework.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation,initscurrentversion,an
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