Manipulation of Dynamically Deformable Object Using Impulse-Based Approach

Tagawa, Kunio; Hirota, Koichi; Hirose, Michitaka

doi:10.5772/8707

Cited by 9 publications

(8 citation statements)

References 18 publications

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“…It looks quite similar to the reconstructed trajectory in (b). Comparing (56) and (57), the (dominating) x-components of the two velocities are very close to each other and so are the (dominating) y-components of the two angular velocities. Figure 16(d) displays a bundle of trajectories predicted by the combined impact model as the stiffness ratio η 2 1 at the cue-ball contact increases discretely from 2 to 7.…”

Section: A Massé Billiard Shotmentioning

confidence: 99%

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Multiple impacts: A state transition diagram approach

Jia

Mason

Erdmann

2012

The International Journal of Robotics Research

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Section: A Massé Billiard Shotmentioning

confidence: 99%

“…Figure 16(b) shows the free ball trajectory (at a different scale) that would have resulted from the ball velocities (56). The actual ball trajectory ended earlier due to a collision with the table cushion.…”

Section: A Massé Billiard Shotmentioning

confidence: 99%

Multiple impacts: A state transition diagram approach

Jia

Mason

Erdmann

2012

The International Journal of Robotics Research

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“…Impulse-based manipulation is an area in robotics where very little work [6,14] is known. An impulsive force has very short execution time, and thus good potential for improving task efficiency.…”

Section: Introductionmentioning

confidence: 99%

Energy-Based Modeling of Tangential Compliance in 3-Dimensional Impact

Jia

2010

Springer Tracts in Advanced Robotics

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Abstract. This paper studies modeling of tangential compliance as two rigid bodies collide in the space. Stronge's spring-based contact structure [13, pp. 95-96] is extended to three dimensions. Slip or stick is indicated by the tangential motion of a massless particle connected to the contact point (viewed as an infinitesimal region) on one body via three orthogonal springs. We show that the effect of tangential compliance can be analyzed using normal impulse rather than time, contrary to a previous claim by Stronge. This is primarily due to the ability of updating the elastic energies of the three springs without knowledge of their stiffnesses or length changes. The change rates, nevertheless, are computable. So are sliding velocity and tangential impulse. The latter is then integrated into impact equations and contact kinematics, making the whole system driven by normal impulse alone. Examples include a ball and a pencil bouncing on a table, and a massé billiard shot. The theory has potential impact on impulsive robotic manipulation in which the ability to deal with friction and compliance is vital for skillful maneuvers.

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“…Also, it needs to take into account trajectory planning since after impact the object acts as a free motion. Not much work exists on impact planning, but noticeable work for impulsive manipulation includes (23), (18), (55), (17) and (62).…”

Section: Impact Modeling and Planningmentioning

confidence: 99%

Robot dexterity: from deformable grasping to impulsive manipulation

Lin

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Manipulation of Dynamically Deformable Object Using Impulse-Based Approach

Cited by 9 publications

References 18 publications

Multiple impacts: A state transition diagram approach

Multiple impacts: A state transition diagram approach

Energy-Based Modeling of Tangential Compliance in 3-Dimensional Impact

Robot dexterity: from deformable grasping to impulsive manipulation

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