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Dynamic Underactuated Nonprehensile Manipulation

Kevin Lynch and Matthew T. Mason
IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 889-896, November, 1996

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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.

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