Dynamic underactuated nonprehensile manipulation

Kevin M. Lynch*, Matthew T. Mason

*Corresponding author for this work

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

24 Scopus citations

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 languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
Pages889-896
Number of pages8
Volume2
StatePublished - Dec 1 1996
EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
Duration: Nov 4 1996Nov 8 1996

Other

OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
CityOsaka, Jpn
Period11/4/9611/8/96

ASJC Scopus subject areas

  • Control and Systems Engineering

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