2022
DOI: 10.1109/tro.2021.3140147
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Rock-and-Walk Manipulation: Object Locomotion by Passive Rolling Dynamics and Periodic Active Control

Abstract: This study presents the method of robotic rock-andwalk manipulation for dynamic, nonprehensile object locomotion. The object, which is in contact with an environmental surface, is basically manipulated to rock from side to side about the contact point periodically by the robot system. In the meantime, the passive dynamics due to gravity enables the object to roll along a zigzag path that leads to a forward walk. Rock-and-walk is a special-purpose method that enables the transport of a certain class of objects,… Show more

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Cited by 8 publications
(6 citation statements)
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References 49 publications
(67 reference statements)
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“…9 certainly allows for more all-sticking object's motions, since m is larger (the object is over-controllable with the multipliers) as well as n 2 . Interestingly, the cable-driven rocking block studied in [218] may be situated in-between frictional oscillators (section 3.2) and nonprehensile manipulation. The cables are actuated (robot) while the block (object) is subjected to ground interaction and interaction with the cables.…”
Section: Nonprehensile Manipulation By Frictionmentioning
confidence: 99%
See 1 more Smart Citation
“…9 certainly allows for more all-sticking object's motions, since m is larger (the object is over-controllable with the multipliers) as well as n 2 . Interestingly, the cable-driven rocking block studied in [218] may be situated in-between frictional oscillators (section 3.2) and nonprehensile manipulation. The cables are actuated (robot) while the block (object) is subjected to ground interaction and interaction with the cables.…”
Section: Nonprehensile Manipulation By Frictionmentioning
confidence: 99%
“…The complementarity constraint manages the taut/slack state of the cable (cables can pull, not push), and the model is complete if an impact model is added to (70) (inelastic collisions are usually chosen [242,243]). The same approach can be used to model tethered satellites, cable-driven robotic systems in crane configuration [48,49,244,245,246], helicopters or quadrotors with cable-suspended loads [242,247,248,249,250], manipulation of objects with cables [218,219,77], gantry cranes with liquid-sloshing payloads [251,252] (then the object has a complex dynamics, which can be approximated with multibody dynamics models [253,Chapter 5]). As explained in [6, Example 1.6], the cables can also be controlled with a force exerted at one tip, or with one of the tip's position (e.g, the attachment point on the aircraft example).…”
Section: Aircraft With Cable-suspended Load (Aerocrane) and Morementioning
confidence: 99%
“…Using robots to manipulate heavy objects is a challenging topic (Ohashi et al , 2016). In contemporary studies, people developed special-purpose mechatronic systems, manipulators with a large payload (Du et al , 2022), robot–human collaboration (Kim et al , 2018; Stouraitis et al , 2020), robot–machine collaboration (Hayakawa et al , 2021; Recker et al , 2021; Ikeda et al , 2018; Balatti et al , 2020), nonprehensile manipulation policies (Yoshida et al , 2010; Specian et al , 2018; Nazir et al , 2022), etc. to solve the problems.…”
Section: Related Workmentioning
confidence: 99%
“…In this step, the values of Equations ( 6)-( 8) need to be replaced in Equations ( 4) and (5). It is assumed that the kinetic energy of motor, T o/p , is the joint force torque in a rotational motion [6].…”
Section: Mathematical Model For Contemporary Robot Manipulatorsmentioning
confidence: 99%
“…In order to prevent falling, a dynamically stable robot necessitates mobility. Based on the given specifications, the stability requirement necessitates that the robot must ensure that its center of mass remains within the confines of the circular area covered by its points of contact with the ground [4,5]. The field of "nonlinear control" pertains to the domain of control engineering, wherein it focuses on the study and application of a single-link robotic manipulator system that exhibits nonlinearity, time variation, or a combination of both [6].…”
Section: Introductionmentioning
confidence: 99%