Estimation of a thin flexible object with bipedal gaits

Ramirez-Alpizar, Ixchel G.; Higashimori, Mitsuru; Kaneko, Makoto

doi:10.1109/coase.2012.6386327

Cited by 2 publications

(2 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Underactuated nonprehensile manipulation has been employed in some studies. A manipulation scheme inspired by the handling of a pizza peel was proposed; in this scheme, the three-DoF motion of a part was controlled by a two-DoF plate [16][17][18]. The motion planning of the planar dynamic nonprehensile manipulation using a one-DoF manipulator was discussed [19].…”

Section: Related Workmentioning

confidence: 99%

“…Figure 1a shows an example of two-DoF manipulation by two actuators, where the moving velocity of a part can be induced omnidirectionally by using the X-Y translational motion of the plate. In contrast, relatively few studies for nonprehensile manipulations with underactuated systems have been reported [16][17][18][19][20][21][22][23][24]. Generally, an underactuated system contributes to simplify hardware and to reduce the number of actuators and sensors installed.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Omnidirectional Nonprehensile Manipulation Using Only One Actuator

2018

Self Cite

View full text Add to dashboard Cite

This paper presents a novel nonprehensile manipulation method that uses the vibration of a plate, where the two degrees of freedom of a part on the plate are controlled by only one actuator. First, a manipulator whose end effector is a flat plate is introduced. By employing an underactuated joint mechanism, the shape and orientation of the vibrational orbit of the plate vary according to frequency and offset angle of the sinusoidal displacement input to an actuator. Then, simulation analyses reveal that the manipulator can omnidirectionally induce translational velocity to the part on the plate. There exists an orthogonality between the effects of the frequency and offset angle on the velocity map of the part. Based on this characteristic, a visual feedback control for manipulating the part is designed. Finally, the proposed method is validated via experiments using a prototype manipulator. A target-trajectory tracking task and a four-way part-feeding task are demonstrated.

show abstract

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Omnidirectional Nonprehensile Manipulation Using Only One Actuator

2018

Self Cite

View full text Add to dashboard Cite

show abstract

Characterization of Deformable Objects by Using Dynamic Nonprehensile Manipulation

Ramirez-Alpizar¹,

Higashimori²,

Kaneko³

2013

J. Robot. Mechatron.

View full text Add to dashboard Cite

This paper presents amethod for evaluating a physical parameter of unknown deformable objects, by using nonprehensile manipulation. By means of simulation analysis, we show that the curve representing the relationship between the object’s angular velocity and the plate’s frequency has a resonance-like response. Based on the above phenomenon, we utilize a Lorentz curve fitting to represent the object’s angular velocity as a function of the plate’s frequency with a simple mathematical expression, instead of deriving the equation of motion of the system that is rather complex due to the intricate dynamics of the system. Then, we show that the first order natural angular frequency in bending determines the frequency at which the object’s has its maximal angular velocity. Using this information, we present a method of how to estimate the object’s first order natural frequency in bending. We show the simulation and experimental results to verify the validity of the method presented.

show abstract

Estimation of a thin flexible object with bipedal gaits

Cited by 2 publications

References 19 publications

Omnidirectional Nonprehensile Manipulation Using Only One Actuator

Omnidirectional Nonprehensile Manipulation Using Only One Actuator

Characterization of Deformable Objects by Using Dynamic Nonprehensile Manipulation

Contact Info

Product

Resources

About