Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the “Butterfly” robot
Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the “Butterfly” robot
复制标题
非抓握操纵案例研究：“蝴蝶”机器人单向滚动的规划和轨道稳定
DOI：
10.1109/icra.2015.7139385
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
L. Paramonov
中科院分区：
文献类型：
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作者：
Maksim O. Surov;A. Shiriaev;L. Freidovich;S. Gusev;L. Paramonov
我们的方法为基准的例子，被称为“蝴蝶”机器人的运动规划和稳定的问题。它被提出作为一个基准的挑战，为开发系统的技术，非弹性滚动操作。建立了非单侧接触欠驱动系统的动力学模型。最近提出的方法，称为虚拟完整约束为基础的运动规划和横向线性化为基础的轨道稳定，适当地扩展，以适应任务。最后，通过硬件实现和实验验证的概念证明了可行性。
We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based motion planning and transverse-linearization-based orbital stabilization, are appropriately extended to suit the task. Finally, the feasibility is demonstrated through a hardware implementation and an experimental validation of the concept.