Nonprehensile manipulation by using non-uniform friction distribution.
نویسندگان
چکیده
منابع مشابه
Dynamic underactuated nonprehensile manipulation
By exploiting centrifugal and Coriolis forces, simple, lowdegree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulationplanner that finds manipulator trajectories to move an object fr...
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This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My recent work is focused on nonprehensile manipulation: manipulating objects without grasping them. In particular, the paper surveys work on a single joint robot that orients parts on a conveyor belt; a robot that uses dynamics to snatch, roll, or throw objects; hitt...
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Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects, robot, and the environment for explicit planning. In contrast, as explicitly modeling the physical environment is not always feasible and involves various uncert...
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ژورنال
عنوان ژورنال: Transactions of the JSME (in Japanese)
سال: 2021
ISSN: 2187-9761
DOI: 10.1299/transjsme.20-00388