Dynamic Nonprehensile Manipulation for Rotating a Thin Deformable Object: An Analogy to Bipedal Gaits
Dynamic Nonprehensile Manipulation for Rotating a Thin Deformable Object: An Analogy to Bipedal Gaits
复制标题
用于旋转薄形可变形物体的动态非抓握操纵：与双足步态的类比
DOI：
10.1109/tro.2011.2181098
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发表时间：
2012
影响因子：
7.8
通讯作者：
I. Kao
中科院分区：
文献类型：
--
作者：
I. Ramirez;M. Higashimori;M. Kaneko;C. Tsai;I. Kao
高速机械手尖端的刚性板末端执行器可以远程操纵物体而无需抓取它。本文讨论了一种动态非抓取操纵策略，用于在具有两个自由度 (DOF) 的刚性板上旋转薄的可变形物体。利用动态效应引起的物体变形来产生快速稳定的旋转。通过改变板运动的旋转分量的频率，我们表明该对象的动态行为模仿了两足动物的滑动、行走或跑步步态。我们引入了一个模型来模拟此类系统，其中对象由多个节点构成，这些节点通过具有三个自由度的粘弹性关节单元连接。通过实验估计关节的粘弹性参数，以模拟真实的食物。然后，使用仿真分析来研究物体的旋转行为及其角速度如何随板的运动频率而变化。我们展示了物体在旋转过程中的行为如何类似于双足滑动、行走和跑步步态，然后获得导致物体最大角速度的最佳板运动。我们还发现，板的适当角加速度对于动态稳定且快速的物体旋转至关重要。我们进一步表明，使物体角速度最大化的摩擦系数取决于其步态。
A rigid plate end-effector at the tip of a high-speed manipulator can remotely manipulate an object without grasping it. This paper discusses a dynamic nonprehensile manipulation strategy to rotate thin deformable objects on a rigid plate with two degrees of freedom (DOFs). The deformation of the object due to dynamic effects is exploited to produce fast and stable rotation. By varying the frequency of the rotational component of the plate's motion, we show that the dynamic behavior of the object mimics either a sliding, walking, or running gait of a biped. We introduce a model to simulate this type of system in which the object is constructed of multiple nodes that are connected by viscoelastic joint units with three DOFs. The joint's viscoelastic parameters are estimated experimentally in order to model real food. Afterward, simulation analysis is used to investigate how the object's rotational behavior and its angular velocity change with respect to the plate's motion frequency. We show how the object's behavior during rotation is analogous to bipedal sliding, walking, and running gaits and then obtain optimal plate motions leading to the maximal angular velocity of the object. We also reveal that an appropriate angular acceleration of the plate is essential for a dynamically stable and fast object's rotation. We further show that the friction coefficient that maximizes the object's angular velocity depends on its gait.