Hitting from any direction in 3-D space by a robot with a flexible link hammer

Izumi, Teruyuki; Hitaka, Yasunobu

doi:10.1109/70.563651

Cited by 20 publications

(10 citation statements)

References 16 publications

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“…The tracking of trajectories which intrinsically involve an infinite number of impacts, with no finite accumulation point for the impact times, leads to some technical difficulties (see Remarks 1 and 3) and is therefore of special interest. Moreover, such a control problem has many applications in robotics, e.g., hopping [2], [3] or walking robots [4], [5], juggling robots [6], [7], hammering tasks [8].…”

Section: Introductionmentioning

confidence: 99%

Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts

Menini

Tornambè

2001

IEEE Trans. Automat. Contr.

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An infinitely rigid mass is considered, which moves on a plane under the action of proper control forces, within a closed region delimited by an infinitely massive and rigid circular barrier. A suitably amended tracking problem for a class of periodic trajectories, involving an infinite number of nonsmooth impacts between the mass and the barrier, is formally stated and solved.Index Terms-Birkhoff billiard, Liapunov methods, mechanical systems, nonsmooth impact.

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Section: Introductionmentioning

confidence: 99%

Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts

Menini

Tornambè

2001

IEEE Trans. Automat. Contr.

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“…Mechanical vibrations are another fundamental type of tactile signals that is often used to detect contact or slip events between contact surfaces [24]- [26]. When we use a hammer to strike a nail [27], we can feel the vibration via our skin's mechanoreceptors [28]. A robot can similarly detect vibrations using a dynamic tactile sensor.…”

Section: B Vibrationmentioning

confidence: 99%

A Review of Tactile Information: Perception and Action Through Touch

Kroemer

et al. 2020

IEEE Trans. Robot.

209

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Tactile sensing is a key sensor modality for robots interacting with their surroundings. These sensors provide a rich and diverse set of data signals that contain detailed information collected from contacts between the robot and its environment. The data is however not limited to individual contacts and can be used to extract a wide range of information about the objects in the robots environment as well as the robots own actions during the interactions.In this paper, we provide an overview of tactile information and its applications in robotics. We present a hierarchy consisting of raw, contact, object, and action levels to structure the tactile information, with higher-level information often building upon lower-level information. We discuss different types of information that can be extracted at each level of the hierarchy. The paper also includes an overview of different types of robot applications and the types of tactile information that they employ.The paper concludes with a discussion of tactile-based computational framework and future tactile applications which are still beyond current robot's capabilities.

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“…The same cannot be said for the study of Coordinated Striking Tasks such as batting, hammering, and kicking which has become more popular only in recent years due to the development of VSAs and the desire for robots to work closely next to humans in a safe manner. There are, however, a few papers concentrating on very specific tasks like batting a baseball, kicking a soccer ball, tapping a shoulder with a small hammer, and humanoid robots striking objects with a rubber stick [7] [10] [11] [25] [26]. They share some similar features, but most are somewhat obscure in their reach.…”

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

“…Moreover, if the plane of motion includes gravitational forces, then the effect of vibrations is even larger. The proposed solution to suppress high order vibrations was an optimal regulator with a low-pass property, which was implemented and tested experimentally with success by driving multiple nails into a wooden board at different incidence angles [11].…”

Section: Coordinated Striking Tasks (Csts)mentioning

confidence: 99%

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

Romanyuk¹

2021

Preprint

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Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.

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Hitting from any direction in 3-D space by a robot with a flexible link hammer

Cited by 20 publications

References 16 publications

Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts

Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts

A Review of Tactile Information: Perception and Action Through Touch

A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

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