Rolling manipulation with a single control

Prasun Choudhury*, Kevin M Lynch

*Corresponding author for this work

Research output: Contribution to conferencePaper

2 Scopus citations

Abstract

Underactuated manipulation is the process of controlling several object degrees-of-freedom with fewer robot actuators. Underactuated manipulation allows us to build dextrous robots with only a few actuators. In this paper we explore the possibility of useful dynamic manipulation with only a single actuator. Our case study is a ball rolling in an asymmetrical bowl which can be accelerated along one linear degree-of-freedom. For a real physical system we show that it is possible for control the equilibrium orientation of the ball on the three-dimensional manifold SO(3) using the single input. We have built an experimental demonstration of this system and we have constructed a motion planner to find a sequence of motions of the bowl to accomplish a desired reorientation.

Original languageEnglish (US)
Pages1089-1094
Number of pages6
StatePublished - Dec 1 2001
EventProceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico
Duration: Sep 5 2001Sep 7 2001

Other

OtherProceedings of the 2001 IEEE International Conference on Control Applications CCA '01
CountryMexico
CityMexico City
Period9/5/019/7/01

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Rolling manipulation with a single control'. Together they form a unique fingerprint.

  • Cite this

    Choudhury, P., & Lynch, K. M. (2001). Rolling manipulation with a single control. 1089-1094. Paper presented at Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01, Mexico City, Mexico.