Carnegie Mellon University
Balancing of a Planar Bouncing Object

Nina Zumel and Michael Erdmann
IEEE International Conference on Robotics and Automation (ICRA '94), 1994, pp. 2949 - 2954.

  • Adobe portable document format (pdf) (198KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

While most previous work in planning manipulation tasks relies on the assumption of quasi-static conditions, there can be situations where the quasi-static assumption may not hold, and the assumptions about the environment must be relaxed. This is true, for example, in a situation where objects are making and breaking contact at high enough velocities that contact dynamics play a significant effect in the motion of the colliding objects. There has been some work studying models of collision, in particular for the design and analysis of systems with intermittent constraints, and for the design of juggling robots. Our work extends previous studies in planar juggling to the case of a polygonal object, using the model of rigid body impulsive collision. Simulations verify the results of a linearized analysis.

Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab

Text Reference
Nina Zumel and Michael Erdmann , "Balancing of a Planar Bouncing Object," IEEE International Conference on Robotics and Automation (ICRA '94), 1994, pp. 2949 - 2954.

BibTeX Reference
   author = "Nina Zumel and Michael {Erdmann }",
   title = "Balancing of a Planar Bouncing Object",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '94)",
   pages = "2949 - 2954",
   year = "1994",
   volume = "4",