Dynamic Capturing Strategy for a 2D Stick-shaped Object based on Friction Independent Collision

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  • 摩擦不感型衝突に基づく二次元棒状物体の動的捕獲戦略
  • マサツ フカンガタ ショウトツ ニ モトヅク 2ジゲン ボウジョウ ブッタイ ノ ドウテキ ホカク センリャク

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This paper proposes a dynamic capturing strategy where a 2D stick-shaped object with both translational and rotational velocities is completely stopped by two robotic fingers. We first show the fingertip position and the object orientation for generating a desired translational velocity or a desired rotational velocity under friction independent collision. Once the object results in a pure translational motion whose direction is perpendicular to the longitudinal axis of object, it is guaranteed that two fingers can always capture the object irrespective of friction coefficient. By using this nature, we show the friction independent capturing strategies for an object with both translational and rotational motions. The proposed strategies are demonstrated by experiments for verifying our idea.

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