NDLI: Resonance-driven dynamic manipulation: Dribbling and juggling with elastic beam

Content Provider	IEEE Xplore Digital Library
Author	Pekarovskiy, A. Saluja, K. Sarkar, R. Buss, M.
Copyright Year	2014
Description	Author affiliation: Mech. Eng. Undergraduate, Birla Inst. of Technol. & Sci., Pilani, India (Saluja, K.) \|\| Instrum. & Electron. Eng.Undergraduate, Jadavpur Univ., Kolkata, India (Sarkar, R.) \|\| Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany (Pekarovskiy, A.; Buss, M.)
Abstract	This paper presents a new device and a method for dynamic manipulation. The device consists of a planar robotic arm and an elastic beam as an end-effector. Using it the elastic end-effector will tend to increase performance and energy efficiency while executing dynamic and repetitive tasks. Through the control of the beam vibration and resonant modes, we modify the state of manipulated objects. For lightweight objects the control is provided through the intermittent contacts without changing dynamics of the beam. However, we show that by using proper synchronization technique continuous-phase contacts are also possible. Juggling and dribbling of a ball are considered to be an alternating non-prehensile catching and throwing task. Such alternating decelerating and accelerating impacts on the ball and the curvature of the beam at the time of impact will stabilize the cyclic orbit of the ball. By proper analysis of continuous-time contact and dynamics of the beam we establish a rhythmic movement of the system. With the variation of frequency and amplitude of the beam it is possible to switch between different dynamic actions such as juggling, dribbling, throwing, catching and balancing.
Starting Page	943
Ending Page	948
File Size	840644
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906967
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Vibrations Robot kinematics Educational robots Acceleration Trajectory
Content Type	Text
Resource Type	Article

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