Throwing Objects -- A bio-inspired Approach for the Transportation of Parts

Frank, Heinz; Wellerdick-Wojtasik, N.; Hagebeuker, Bianca; Novak, Gregor; Mahlknecht, Stefan

doi:10.1109/robio.2006.340302

Cited by 33 publications

(22 citation statements)

References 6 publications

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“…Conveyors have to be disassembled and reassembled which takes a long time. A very fast reconfigurable transport approach is to throw and catch objects [7]. Reconfiguration of such a system is limited to assigning a new target to the throwing instance and a new object origin to the catching instance.…”

Section: Applicationmentioning

confidence: 99%

Transport by throwing - A bio-inspired approach

Pongratz

Kupzog

Frank³

et al. 2010

2010 8th IEEE International Conference on Industrial Informatics

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Abstract-In modern industrial production fast and easily reconfigurable transportation systems are necessary. A viable bioinspired approach to this is throwing and catching of transportation goods. In order to catch a thrown object the catching device has to be moved to the right position on time. This requires a fast and accurate acquisition of flight position and a prediction system for the interception point. The main topic of this paper is the development and comparison of two prediction models for the flight trajectory of a thrown tennis ball. The position acquisition, that is the base for the prediction, is based on a binocular vision system similar to two-eyed humans. The impact of the vision systems frame rate on the error of the prediction is reviewed as well. Future prediction is planned to be done based on a bio-inspired approach using a small set of reference throws.

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Section: Applicationmentioning

confidence: 99%

Transport by throwing - A bio-inspired approach

Pongratz

Kupzog

Frank³

et al. 2010

2010 8th IEEE International Conference on Industrial Informatics

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“…The potentials of this approach have already been described in [1], [2]. In this paper, a prototype implementation is presented which is capable of automatically throwing and capturing of cylinder-shaped objects with varying masses and geometric dimensions.…”

Section: Introductionmentioning

confidence: 99%

Automated throwing and capturing of cylinder-shaped objects

Frank

Janoske

Mittnacht

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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A new approach for transportation of objects within production systems by automated throwing and capturing is investigated. This paper presents an implementation, consisting of a throwing robot and a capturing robot. The throwing robot uses a linear and the capturing robot a rotary axis. The throwing robot is capable of throwing cylinder-shaped objects onto a target point with high precision. The capturing robot there smoothly grips the cylinders during flight by means of a rotational movement. In order to synchronize the capturing robot and the cylinder's pose and velocity, its trajectory has to be modeled as well as the motion sequences of both robots. The throwing and capturing tasks are performed by the robots automatically without the use of any external sensor system.

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“…Transportation by throwing objects can produce the following advantages: (1) mechanical equipments are simplified or less required; (2) flexibility of the systems is enhanced; and (3) the transportation processes are speeded up [3]. We consider the applications of the throwing manipulation to transporting, orienting, sorting and assembling various types of objects.…”

Section: Introductionmentioning

confidence: 99%

Parts assembly by throwing manipulation with a one-joint arm

Miyashita

Yamawaki

Yashima

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The present paper proposes the learning control method for the throwing manipulation which can control not only the position but also the orientation of the polygonal object more accurately and robustly by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed control method with the one-degree-freedom robotic arm. We also demonstrate the usefulness of the throwing manipulation by applying it to sorting task and assembly task on experiments.

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Throwing Objects -- A bio-inspired Approach for the Transportation of Parts

Cited by 33 publications

References 6 publications

Transport by throwing - A bio-inspired approach

Transport by throwing - A bio-inspired approach

Automated throwing and capturing of cylinder-shaped objects

Parts assembly by throwing manipulation with a one-joint arm

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