Rolling Based Manipulation under Neighborhood Equilibrium
Rolling Based Manipulation under Neighborhood Equilibrium
复制标题
邻域平衡下基于滚动的操纵
DOI：
10.1177/027836402761393487
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
M. Kaneko
中科院分区：
文献类型：
--
作者：
K. Harada;Taiga Kawashima;M. Kaneko
本文提出了邻域均衡的概念，并将其应用于对物体的操纵。在NE下，即使当前的平衡状态由于输入的改变而被打破，滚动接触的对象也可以自动找到与原始平衡状态接近的另一个平衡状态。为了通过考虑NE来操纵对象，对象和板之间的所有接触坐标都被控制到所需的值。为了在操作过程中保证NE，我们在物体表面定义了接触稳定区域(CSR)。我们在CSR中规划接触坐标的轨迹。物体表面接触点的规划轨迹由多个等边三角形组成。利用Gauss-Bonnet定理，证明了该算法对球面目标的可达性。数值算例和实验结果说明了我们的想法。
This paper proposes an idea of Neighborhood Equilibrium (NE) and applies it to the manipulation of an object. Under NE, an object with rolling contact can automatically find another equilibrium state close to the original one even when the current one is broken due to the change of input. For manipulating an object by taking NE into account, all the contact coordinates between the object and the plate are controlled to the desired values. To guarantee NE during the manipulation, we define the contact stable region (CSR) on the object surface. We plan the trajectory of contact coordinates within the CSR. The planned trajectory of contact point on the object surface is composed of multiple equilateral triangles. By using the Gauss-Bonnet theorem, the reachability of the algorithm is shown for a spheroidal object. Numerical examples and experiments are shown to explain our idea.