Friction-Induced Lines of Attraction and Repulsion for Parts Sliding on an Oscillated Plate

Vose, Thomas H.; Umbanhowar, Paul B.; Lynch, Kevin

doi:10.1109/tase.2009.2021360

Cited by 29 publications

(25 citation statements)

References 20 publications

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“…A vibratory transport mechanism using an active plate was proposed by Umbanhowar and Lynch, and the transportation behavior was verified through experiments using a vibrating plate [10]. Vose et al analyzed the bang-bang motion of a rigid plate and derived the generation of nodal lines; the analysis results were verified through comparison between numerical simulation results and experimental results obtained from an experimental active plate system with six degrees of freedom [11]. In addition, a mechanism to predict the relationship between the small-amplitude cyclic motion of a six-degrees-of-freedom rigid plate and its velocity field, called asymptotic velocity theory, has been developed [12].…”

Section: Introductionmentioning

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%

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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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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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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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%

“…A few research groups have performed cyclic manipulation using an active plate. [9][10][11][12][13][14][15][16][17] Böhringer et al demonstrated a flexible vibrating plate that can create a two-dimensional (2D) programmable force field and generated sequences of force fields for sensorless positioning and orientation adjustment. [9] Umbanhowar and Lynch presented a vibratory transport mechanism that maximizes transport speed, and the results of experiments conducted using a vibrating plate verified the transportation behavior.…”

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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Friction-Induced Lines of Attraction and Repulsion for Parts Sliding on an Oscillated Plate

Cited by 29 publications

References 20 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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