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Robotic Contact Juggling
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AI
DOI：10.1109/TRO.2023.3250160.png)
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Abstract
En 中文
In this article, we define robotic contact juggling to be the purposeful control of the motion of a 3-D smooth object as it rolls freely on a motion-controlled robot manipulator, or hand. While specific examples of robotic contact juggling have been studied before, in this article, we provide the first general formulation and solution method for the case of an arbitrary smooth object in a single-point rolling contact on an arbitrary smooth hand. Our formulation splits the problem into four subproblems: deriving the second-order rolling kinematics; deriving the 3-D rolling dynamics; planning rolling motions that satisfy the rolling dynamics and achieve the desired goal; and stabilization of planned rolling trajectories. The theoretical results are demonstrated in 3-D simulations and 2-D experiments using feedback from a high-speed vision system.
Keywords:
Mathematical models
Kinematics
Dynamics
Planning
Manipulator dynamics
Robot kinematics
Feedback control
Controllability
contact juggling
dynamics
feedback
feedback control
manipulator dynamics
motion planning
rolling manipulation
Journal
IF:
10.5
Papers:
3.3K
Citations:
2.8W