Wrapping a target with a tethered projectile

Hill, Lucas P.; Woodward, T. E.; Arisumi, Hitoshi; Hatton, Ross L.

doi:10.1109/icra.2015.7139379

Cited by 12 publications

(6 citation statements)

References 11 publications

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“…Even small forces induced at a nozzle by the substrate during spinning of polymer fibers may affect the stability of the resulting jet [27][28][29][30]. Studying the dynamic contact behavior of extended objects may help us manipulate flexible robotic casters [31] and understand passive reconfiguration and obstacle avoidance in organismal biology, as when cockroaches navigate tall compliant grass [32], or snakes land on tree branches [33].…”

Section: Introductionmentioning

confidence: 99%

Impact-induced acceleration by obstacles

et al. 2018

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We explore a surprising phenomenon in which an obstruction accelerates, rather than decelerates, a moving flexible object. It has been claimed that the right kind of discrete chain falling onto a table falls faster than a free-falling body. We confirm and quantify this effect, reveal its complicated dependence on angle of incidence, and identify multiple operative mechanisms. Prior theories for direct impact onto flat surfaces, which involve a single constitutive parameter, match our data well if we account for a characteristic delay length that must impinge before the onset of excess acceleration. Our measurements provide a robust determination of this parameter. This supports the possibility of modeling such discrete structures as continuous bodies with a complicated constitutive law of impact that includes angle of incidence as an input.

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Section: Introductionmentioning

confidence: 99%

Impact-induced acceleration by obstacles

et al. 2018

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“…Jumping spiders have also been observed to use anchored draglines to achieve maneuvering capabilities while in the air [18]; we aim to take advantage of our study of tethered projectiles in [19] and [20] to add similar capability to our jumping spider mechanism, additionally drawing on parallel work in [17]. : Experimental validation with two different front leg angle (0°and 45°) that cause vaulting and aiming respectively.…”

Section: Discussionmentioning

confidence: 98%

Aiming and vaulting: Spider inspired leaping for jumping robots

Faraji

Tachella

Hatton

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Jumping spiders are capable of targeted jumps by using their front legs to guide the release of energy from their rear legs. In this paper, we present a simplified model of the jumping spider based on the anatomy of the real spider. The immediate goal of this model is to understand how the geometry of the legs affects the jumping motion, with the further goal of using this geometry in the future development of jumping robots. Through a set of simulations, dynamic analysis, and experiments with a physical realization of our model, we identify several features of the spiders' jumping mechanism, most notably that "vaulting" with the front legs allows the system to generate flatter take-off trajectories than could be achieved by simple aiming of a spring-release mechanism.

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“…The trajectory planning of the launched mass requires some simplifying assumptions. Most authors [13][14][15][16][17]19,21,[25][26][27][31][32][33][34][36][37][38][39] consider a simplified model where, during the free-flight phase, the only force acting is gravity; under these assumptions, it can be readily shown that the center of mass of the launched object will move along a parabolic arc in a vertical plane. Considering the effect of air drag leads to a more realistic model; however, the dynamic problem including the air-drag model does not have a closed-form solution.…”

Section: Launch Trajectory Planningmentioning

confidence: 99%

“…A system that launched an anchor ball attached to a cable was considered in [37], together with a ropeway robot moving along the launched cable after its anchor had been fixed at the target position. Notably, in a casting robot, the cable may interact not only with the launched part, but also with the environment, for instance by wrapping itself around a pole [38]. A concept closely correlated to casting was explored in [39], where the authors considered a shooting robot that catapulted an object connected to an elastic cable with an impulsive force; an advantage of this approach is the ability to reach "blind spots" behind objects.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations

et al. 2020

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Cable-driven parallel robots can provide interesting advantages over conventional robots with rigid links; in particular, robots with a cable-suspended architecture can have very large workspaces. Recent research has shown that dynamic trajectories allow the robot to further increase its workspace by taking advantage of inertial effects. In our work, we consider a three-degrees-of-freedom parallel robot suspended by three cables, with a point-mass end-effector. This model was considered in previous works to analyze the conditions for dynamical feasibility of a trajectory. Here, we enhance the robot’s capabilities by using it as a sling, that is, by throwing a mass at a suitable time. The mass is carried at the end-effector by a gripper, which releases the mass so that it can reach a given target point. Mathematical models are presented that provide guidelines for planning the trajectory. Moreover, results are shown from simulations that include the effect of cable elasticity. Finally, suggestions are offered regarding how such a trajectory can be optimized.

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Wrapping a target with a tethered projectile

Cited by 12 publications

References 11 publications

Impact-induced acceleration by obstacles

Impact-induced acceleration by obstacles

Aiming and vaulting: Spider inspired leaping for jumping robots

Modeling and Control of a Cable-Suspended Sling-Like Parallel Robot for Throwing Operations

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