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Dynamic manipulation with a one joint robot

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2 Author(s)
K. M. Lynch ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; M. T. Mason

We are interested in using low degree-of-freedom robots to perform complex manipulation task without grasping. The robot can use rolling, slipping, and free flight to control more degrees-of-freedom of the part. To demonstrate this we study the controllability properties of planar dynamic nonprehensile manipulation. We show that almost any planar object is small-time locally controllable by point contact, and the controlling robot requires only two degrees-of-freedom (a point translating in the plane). We then focus on a one joint manipulator (with a two-dimensional state space) and show that even this simplest of robots, by using slipping and rolling, can control an object to a full-dimensional subset of its six-dimensional state space. We have developed a one joint robot to perform a variety of dynamic tasks, including snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:1 )

Date of Conference:

20-25 Apr 1997