Rolling polyhedra on a plane, analysis of the reachable set
Rolling polyhedra on a plane, analysis of the reachable set
复制标题
平面上滚动多面体，可达集分析
DOI：
10.1201/9781439864524-34
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
A. Bicchi
中科院分区：
文献类型：
--
作者：
Y. Chitour;A. Marigo;D. Prattichizzo;A. Bicchi
考虑了物体灵巧操纵的问题，即通过某种机制的作用来任意重新定位和重新定向刚体。我们以之前的结果为基础，利用很少的执行器实现灵巧的“机器人手”，这可以通过利用规则表面的非完整滚动来实现。在本文中，我们专注于多面体物体的操纵，并证明了一个必要且充分的类似可控性的结果，这揭示了这个问题的一些有趣的方面和观点。
The problem of dexterous manipulation of objects, i.e. of arbitrary relocation and reorientation of rigid bodies by action of some mechanism, is considered. We build upon previous results on the possibility of implementing dexterous “robot hands” with few actuators, which can be afforded through the exploitation of nonholonomic rolling of regular surfaces. In this paper we focus on the manipulation of polyhedral objects, and prove a necessary and sufficient controllability–like result, which discloses some of the interesting aspects and perspectives of this problem.