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1、SpringerTractsinAdvancedRoboticsVolume40Editors:BrunoSiciliano·OussamaKhatib·FransGroenLionelBirglen,ThierryLaliberté,ClémentGosselinUnderactuatedRoboticHandsABCProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,UniversitàdiNapoliFedericoII,ViaCl
2、audio21,80125Napoli,Italy,E-mail:siciliano@unina.itProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,E-mail:khatib@cs.stanford.eduProfessorFransGroen,DepartmentofComputerScience,Universiteitvan
3、Amsterdam,Kruislaan403,1098SJAmsterdam,TheNetherlands,E-mail:groen@science.uva.nlAuthorsProf.LionelBirglenProf.ClémentGosselinÉcolePolytechniquedeMontréalUniversitéLavalDépartementdegéniemécaniqueDépartementdegéniemécaniqueP.O.Box6079Succ.Centre-VillePavillo
4、nAdrien-PouliotMontréal,Québec,1065avenuedelamédecineH3C3A7Québec,Québec,G1V0A6CanadaCanadaEmail:lionel.birglen@polymtl.caEmail:gosselin@gmc.ulaval.caThierryLalibertéUniversitéLavalDépartementdegéniemécaniquePavillonAdrien-Pouliot1065avenuedelamédecineQuébec
5、,Québec,G1V0A6CanadaEmail:thierry@gmc.ulaval.caISBN978-3-540-77458-7e-ISBN978-3-540-77459-4SpringerTractsinAdvancedRoboticsISSN1610-7438LibraryofCongressControlNumber:2007941942c2008Springer-VerlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsareres
6、erved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.Duplicationofthispublicationorpartsthereofispermittedonl
7、yundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliableforprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.int
8、hispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.TypesettingbytheauthorsandScientificP
