Dynamic nonprehensile shaping of a deformable object by using its gait-like behaviors

Abstract

This paper discusses a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin object is dynamically controlled by the plate's rapid motion. After explaining the manipulation principle, we introduce a simplified analytical model where an object is modeled by two mass points and the plate has two degrees of freedom: a translational motion and a rotational one. After categorizing jump patterns of the mass point with considering the plate's acceleration, we show that gait-like behaviors of the object are generated on the periodic plate's motion. Through simulation analysis, we show the deformation velocity transition of the object with respect to the amplitude of plate's acceleration. We reveal that the transition is characterized by particular amplitudes which govern the jump patterns of the mass point. We make clear that the optimum plate's motion leading to the maximal deformation velocity exists on one of such particular amplitudes.

Multi-Modal Sensing and Robotic Manipulation of Non-Rigid Objects: A Survey

“…Inahara et al [82] performed the non-prehensile stretching and compression of a thin wheat dough by controlling the acceleration of a vibrating plate on which the object lays. This was later improved in Higashimori et al [83] by allowing the object to "jump" from the plate during shaping. From the realm of computer graphics and animation, Bai et al [84] developed an algorithm to compute the necessary joint torques of simulated anthropomorphic hands in order for a cloth to follow a defined motion.…”

First engineering framework for the out-of-plane robotic shaping of thin rheological objects

“…A dynamic nonprehensile shaping method of a thin rheological object is presented in [27], in which the object shape is dynamically controlled by the combination of the inertial and friction forces generated by the supporting plate rapid motion. This work is extended in [28] by allowing the object to jump from the plate surface to the air, while in the previous work the object was supposed to keep full-contact with the plate. By changing the contact mode, a potential to produce a larger deformation is given to the object.…”

“…To the best of authors' knowledge, this is the first work in the literature in which the out-ofplane shaping of a thin rheological object is studied. Other papers [1,12] presented methods to control the contour of a thin 2-D rheological object, and methods to extend or contract a thin rheological object are presented in [27,28]. Nevertheless, in all of these works the rheological object deforms remaining in the plane in which it was originally.…”