An example of parts handling and self-assembly using stable limit sets

T. D. Murphey, J. Bernheisel, D. Choi, K. M. Lynch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

Throwing and catching parts, similar to vibratory agitation, promises to be a powerful manipulation technique, but is analytically complicated by equations of motion involving friction and impacts. However, one can show that some simple part manipulators exhibit limit set behavior, where the parts enter a set that is invariant under the mapping that corresponds to the throwing action. We show that by analyzing limit sets directly we can design parts and their environment so that part feeding or assembling naturally emerges from the dynamics. We include experiments validating both these approaches and a discussion of future work.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1624-1629
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Manipulation
  • Parts handling
  • Self-assembly
  • Stable limit sets
  • Throwing and catching

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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