Abstract
By exploiting centrifugal and Coriolis forces, simple, low-degree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulation planner that finds manipulator trajectories to move an object from one state to another without grasping it. The trajectories have been successfully implemented on a one-degree-of-freedom direct-drive arm to perform dynamic tasks such as snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching.
| Original language | English (US) |
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| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Editors | Anon |
| Pages | 889-896 |
| Number of pages | 8 |
| Volume | 2 |
| State | Published - Dec 1 1996 |
| Event | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn Duration: Nov 4 1996 → Nov 8 1996 |
Other
| Other | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) |
|---|---|
| City | Osaka, Jpn |
| Period | 11/4/96 → 11/8/96 |
ASJC Scopus subject areas
- Control and Systems Engineering