From Robotic Juggling to Robotic Parts Feeding
S. Akella, W. H. Huang, K. M. Lynch, and M. T. Mason
Abstract
This paper describes our recent work on robotic manipulation using a robot with just one motor. The drift field provided by gravity can serve as an uncontrolled motor to allow a single-motor robot to throw objects to itself, a simple type of robotic juggling. Similarly, the drift field provided by a conveyor belt can serve as an uncontrolled motor to allow a single-motor robot to feed parts in an automated manufacturing context. This paper sketches the principles of very simple manipulators, and describes our recent theoretical and experimental results.