The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We are interested in using low degree-of-freedom robots to perform complex manipulation tasks by not grasping. By not 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.

Notes

Associated Project(s): Factory Automation

Text Reference

Kevin Lynch and Matthew T. Mason, "Dynamic manipulation with a one joint robot," IEEE International Conference on Robotics and Automation (ICRA '97), 1997.

BibTeX Reference

@inproceedings{Lynch_1997_3078,
   author = "Kevin Lynch and Matthew T. Mason",
   title = "Dynamic manipulation with a one joint robot",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '97)",
   year = "1997",
}

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