Rolling manipulation with a single control

Prasun Choudhury*, Kevin Lynch

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations


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)
Number of pages6
StatePublished - 2001
EventProceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico
Duration: Sep 5 2001Sep 7 2001


OtherProceedings of the 2001 IEEE International Conference on Control Applications CCA '01
CityMexico City

ASJC Scopus subject areas

  • Control and Systems Engineering


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