Stable limit sets in a dynamic parts feeder

Kevin M. Lynch*, Michael Northrop, Peng Pan

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

22 Scopus citations


We describe a one-joint planar arm which repeatedly throws and catches parts on its surface, and we demonstrate that proper choice of the throw velocity and arm geometry guarantees that the part will enter a unique recurrent motion pattern from a large set of initial configurations. The resulting system resembles an open-loop stable juggler of polygonal parts. Combined with a simple 1-bit sensor, the system can be used as a parts feeder.

Original languageEnglish (US)
Pages (from-to)608-615
Number of pages8
JournalIEEE Transactions on Robotics and Automation
Issue number4
StatePublished - Aug 2002


  • Dynamic grasp
  • Impulse
  • Parts feeding
  • Robotic manipulation
  • Stable limit sets
  • Throwing and catching

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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