The roles of shape and motion in dynamic manipulation: The butterfly example

Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazuo Tanie

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

54 Scopus citations

Abstract

We study the juggler skill called the butterfly. Starting with a ball resting on the palm of his/her open hand, a skilled juggler can accelerate and shape his/her hand so that the ball rolls up the fingers, over the top, and back down to the back of the hand. This paper describes a robotic implementation of the butterfly. The combined hand shape and motion set the rolling motion of the ball, and we find that the shape and motion parameters enter the dynamic equations in a similar way. We define parametrized spaces of hand shape and motion, and using a simulation based on the rolling equations, we identify shape and motion solutions that roll the ball from one side of the hand to the other. We describe an implementation of the butterfly on our planar dynamic manipulation testbed FLATLAND. This example is our first step toward exploring the roles of shape and motion in dynamic manipulation.

Original languageEnglish (US)
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1958-1963
Number of pages6
ISBN (Print)078034300X
DOIs
StatePublished - Jan 1 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period5/16/985/20/98

Keywords

  • Acceleration
  • Actuators
  • Equations
  • Fingers
  • Laboratories
  • Manipulator dynamics
  • Mechanical engineering
  • Motion control
  • Robots
  • Shape control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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