Design and Analysis of a Blind Juggling Robot

Reist, Philipp; D’Andrea, Raffaello

doi:10.1109/tro.2012.2205493

Cited by 40 publications

(43 citation statements)

References 22 publications

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“…The non-elastic collision model is used in previous plate manipulation works (e.g. [13,14,17,18]). Then, the following velocity exchange takes place:…”

Section: Collision Phasementioning

confidence: 99%

“…Rhythmic motion control has been an important research topic studied for many years in robotics and mechatronics [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]. Legged locomotion is one type of rhythmic motion that requires cyclic stability.…”

Section: Introductionmentioning

confidence: 99%

“…Some research groups have proposed nongrasping manipulation schemes using an active plate, which also require cyclic stability [9][10][11][12][13][14][15][16][17]. Senforless positioning and orientation adjustment have been realized using a flexible vibrating plate [9].…”

Section: Introductionmentioning

confidence: 99%

“…Inspired by the handling mechanism of a pizza chef, Higashimori et al [15,16] developed a manipulation device using a plate that can control an object on it to a desired position and orientation through visual feedback. Reist and D' Andrea [17] designed Blind Juggler, which can juggle a ball at a height of 2 m without feedback, and analyzed the local stability of the ball trajectory. Although non-grasp manipulation can generally result in efficient manipulation for all the aforementioned manipulation schemes using plates, the controlled objects are represented by a mass point or a two-dimensional rigid body.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Position and inclination control of a passive disk based on cyclic motion generation

Aoyama

Takaki

et al. 2017

Robomech J

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We propose a position and inclination controlling method for a passive object using an active plate. Previously, we proposed a novel manipulation scheme that can control a passive object's orientation using an active plate. In the work, stable plate cyclic motion is designed and inclination control of the object is realized. However, the object's position is not considered, so there is a possibility that the object could move. Using our plate trajectory design we can control not only the passive object's inclination but also its position. We verify that the designed plate motion can control both the object's inclination and its position through dynamics simulation. A stability analysis around a fixed point is conducted using a Poincaré return map, demonstrating that fixed points are asymptotically stable.

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“…The non-elastic collision model is used in previous plate manipulation works (e.g. [13,14,17,18]). Then, the following velocity exchange takes place:…”

Section: Collision Phasementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Position and inclination control of a passive disk based on cyclic motion generation

Aoyama

Takaki

et al. 2017

Robomech J

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show abstract

“…[1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17] Legged locomotion that ensures cyclic stability has been realized. Raibert built a simple hopping robot, using a leg composed of a double-acting air cylinder.…”

Section: Introductionmentioning

confidence: 99%

Cyclic motion design and analysis for a passive object manipulation using an active plate

Aoyama¹,

Harada²,

Gu³

et al. 2015

Advanced Robotics

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We propose a novel scheme for manipulating a passive object using an active plate. In previous studies, cyclic manipulations that transport objects on a plate, position control of an object on a plate, and juggling have been realized. In most manipulations using plates, object motions in the direction of the gravitational force are not considered. The objective of this study is to control an object's orientation with respect to the gravitational force direction using an active plate for realizing hitherto unrealized object motion. In this context, a tumble doll, which is a planar rigid sphere, is defined as the object. Motions of the object and active plate are designed to be cyclic. A state vector composed of the object's angle and angular velocity is defined, and the cyclic motion is expressed as a nonlinear discrete system. Fixed points of the state vector are searched for in the designed cyclic motion. A stability analysis around the fixed points is conducted using a Poincaré map. As a result, the fixed points are shown to be asymptotically stable. Finally, experimental results are used to verify that the object's angle can be manipulated with the designed cyclic motion using the plate.

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Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project

Ruggiero

Kim

Gutiérrez–Giles

et al. 2019

Informatics in Control, Automation and Robotics

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Design and Analysis of a Blind Juggling Robot

Cited by 40 publications

References 22 publications

Position and inclination control of a passive disk based on cyclic motion generation

Position and inclination control of a passive disk based on cyclic motion generation

Cyclic motion design and analysis for a passive object manipulation using an active plate

Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project

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