@inproceedings{bec7deb763394a5db84ca42c1f26d28b,
title = "Control of nonprehensile rolling manipulation: Balancing a disk on a disk",
abstract = "This paper presents stabilization control of a rolling manipulation system called the disk-on-disk. The system consists of two disks in which the upper disk (object) is free to roll on the lower disk (hand) under the influence of gravity. The goal is to stabilize the object at the unstable upright position directly above the hand. We use backstepping to derive a control law yielding global asymptotic stability. We present simulation as well as experimental results demonstrating the controller.",
author = "Ryu, {Ji Chul} and Fabio Ruggiero and Lynch, {Kevin M.}",
year = "2012",
month = jan,
day = "1",
doi = "10.1109/ICRA.2012.6225044",
language = "English (US)",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3232--3237",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
address = "United States",
note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",
}