One of the key challenges in dynamic manipulation is to establish continuous contact between a moving object and a manipulator. Direct robotic catching is a benchmark in this context, especially without grasping devices. In this paper, we explain why it is unrewarding to aim for an ideal initial dynamic contact if only imprecise knowledge of the object states is available. Robust initial contacts are proposed such that a successful quasi-direct catch can be predicted. The proposed robustness originates in a negative relative acceleration between object and catching end-effector. Sets, for which an upper negative relative acceleration bound holds, are evaluated throughout an exemplary catching motion. Reachable set computations allow to express and visualize these sets of successful object states at any point in time before contact. The paper closes with a robot-robot experiment that shows successful quasi-direct catches without feedback on the object states for a robotic throw.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Quasi-Direct Nonprehensile Catching with Uncertain Object States


    Beteiligte:
    Schill, M. (Autor:in) / Gruber, F. (Autor:in) / Buss, M. (Autor:in)

    Erscheinungsdatum :

    2016-06-06


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    620 / 629



    A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation

    Selvaggio, Mario / Cacace, Jonathan / Pacchierotti, Claudio et al. | BASE | 2021

    Freier Zugriff

    Nonholonomic Rolling Nonprehensile Manipulation Primitive

    Gutierrez-Giles, Alejandro / Satici, Aykut C. / Donaire, Alejandro et al. | BASE | 2022

    Freier Zugriff

    Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project

    Ruggiero, Fabio / Kim, Jung-Tae / Gutierrez-Giles, Alejandro et al. | TIBKAT | 2020


    Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project

    Ruggiero, Fabio / Kim, Jung-Tae / Gutierrez-Giles, Alejandro et al. | BASE | 2020

    Freier Zugriff

    Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project

    Ruggiero, Fabio / Kim, Jung-Tae / Gutierrez-Giles, Alejandro et al. | Springer Verlag | 2019