The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

By exploiting centrifugal and Coriolis forces, simple, low-degree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulation planner that finds manipulator trajectories to move an object from one state to another without grasping it. The trajectories have been successfully implemented on a one-degree-of-freedom direct drive arm to perform dynamic tasks such as snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching.

Notes

Text Reference

Kevin Lynch and Matthew T. Mason, "Dynamic Underactuated Nonprehensile Manipulation," IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 1996, pp. 889--896.

BibTeX Reference

@inproceedings{Lynch_1996_1521,
   author = "Kevin Lynch and Matthew T. Mason",
   title = "Dynamic Underactuated Nonprehensile Manipulation",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "889--896",
   month = "November",
   year = "1996",
   volume = "2",
}

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