Dynamic Manipulation Theory
By not grasping, a simple robot with few degrees-of-freedom can
control an object with more degrees-of-freedom by exploiting dynamic
effects, such as centrifugal and Coriolis forces. These extra
degrees-of-freedom come from manipulation phases such as controlled
slipping and rolling. In contrast, a robot that carries an object with
a firm grasp requires as many degrees-of-freedom as those of the
object it wishes to control.
Our work on dynamic manipulation has been on motion planning, feedback
control, and implementation of robotic tasks such as dynamically
snatching an object from a table (using inertial forces to keep the
object fixed to the robot), rolling an object on the surface of the
manipulator, and throwing and catching. Nonlinear optimization is
used to plan robot trajectories that achieve the desired motion via
coupling forces through the nonprehensile (graspless) contact.
See also:
Dynamice Manipulation via Flatland.
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K. M. Lynch and T. D. Murphey. Control of nonprehensile manipulation.
To appear in Control Problems in Robotics and Automation, A. Bicchi
and H. Christensen, eds. Springer-Verlag.
html,
pdf
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K. M. Lynch, N. Shiroma, H. Arai, and K. Tanie.
The roles of shape and motion in dynamic manipulation:
The butterfly example.
1998 IEEE International Conference on Robotics
and Automation, pp. 927-932, Leuven, Belgium, May 1998.
abstract,
postscript (785 K),
pdf (141 K)
-
K. M. Lynch.
Issues in nonprehensile manipulation.
1998 Workshop on the Algorithmic Foundations of Robotics.
abstract,
postscript (835 K),
pdf (285 K)
-
K. M. Lynch and M. T. Mason.
Dynamic nonprehensile manipulation: Controllability, planning,
and experiments.
International Journal of Robotics Research,
18(1):64-92, January 1999.
abstract,
postscript (2584 K),
pdf (519 K)
-
K. M. Lynch and M. T. Mason.
Dynamic manipulation with a one joint robot.
1997 IEEE International Conference on Robotics and
Automation, pp. 359-366, Albuquerque, NM, April 1997.
abstract,
postscript (837 K),
pdf (131 K)
-
K. M. Lynch and M. T. Mason.
Dynamic underactuated nonprehensile manipulation.
1996 IEEE/RSJ International Conference on Intelligent Robots and
Systems pp. 889-896, Osaka, Japan, November 1996.
abstract,
postscript (1695 K),
pdf (159 K)
-
M. T. Mason and K. M. Lynch.
Dynamic robotic manipulation: Progress and plans.
Eighth Yale Workshop on Adaptive and Learning Systems, New Haven,
CT, June 1994.
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M. T. Mason and K. M. Lynch.
Throwing a club: Early results.
Sixth International Symposium on Robotics Research, Hidden Valley,
PA, October 1993.
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M. T. Mason and K. M. Lynch.
Dynamic manipulation.
1993 IEEE/RSJ International Conference on Intelligent Robots and
Systems, pp. 152-159, Yokohama, Japan, July 1993.
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