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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    Title :

    Wrapping a target with a tethered projectile


    Contributors:


    Publication date :

    2015-05-01


    Size :

    1537847 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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