A casting manipulator is a robot that launches a payload as a projectile then alters the ballistic trajectory by pulling on an attached tether. Prior work in casting manipulation has focused on applying impulses through the tether to place the payload at a specific location and then retract it. In the spirit of whole-body and whole-arm manipulation, we propose that the tether itself can be used to act on the environment, rather than serving only as a means of directing the projectile. As a first step in this direction, we consider the case of throwing an end-weighted line to wrap a target above and away from the launch point. We explore the necessary conditions for successfully wrapping a target, including the various types of wrapping and the conditions required to make these wraps.


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    Titel :

    Wrapping a target with a tethered projectile


    Beteiligte:
    Hill, Lucas (Autor:in) / Woodward, Thomas (Autor:in) / Arisumi, Hitoshi (Autor:in) / Hatton, Ross L. (Autor:in)


    Erscheinungsdatum :

    2015-05-01


    Format / Umfang :

    1537847 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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