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Case study in non-p...
Case study in non-prehensile manipulation : planning and orbital stabilization of one-directional rollings for the "Butterfly" robot
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Surov, Maksim (författare)
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Shiriaev, Anton (författare)
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- Freidovich, Leonid (författare)
- Umeå universitet,Institutionen för tillämpad fysik och elektronik
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Gusev, Sergei (författare)
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Paramonov, Leonid (författare)
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(creator_code:org_t)
- Los Alamitos : IEEE Computer Society, 2015
- 2015
- Engelska.
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Ingår i: 2015 IEEE International Conference on Robotics and Automation (ICRA). - Los Alamitos : IEEE Computer Society. - 9781479969234 ; , s. 1484-1489
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- We approach a problem of motion planning and stabilization for a benchmark example, known as the "Butterfly" robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based motion planning and transverse-linearization-based orbital stabilization, are appropriately extended to suit the task. Finally, the feasibility is demonstrated through a hardware implementation and an experimental validation of the concept.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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