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Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the "Butterfly" robot
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.ORCID iD: 0000-0003-0730-9441
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2015 (English)In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Los Alamitos: IEEE Computer Society, 2015, 1484-1489 p.Conference paper, (Refereed)
Abstract [en]

We approach a problem of motion planning and stabilization for a benchmark example, known as the "Butterfly" robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based motion planning and transverse-linearization-based orbital stabilization, are appropriately extended to suit the task. Finally, the feasibility is demonstrated through a hardware implementation and an experimental validation of the concept.

Place, publisher, year, edition, pages
Los Alamitos: IEEE Computer Society, 2015. 1484-1489 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:umu:diva-129912DOI: 10.1109/ICRA.2015.7139385ISI: 000370974901071ISBN: 978-1-4799-6923-4 (print)OAI: oai:DiVA.org:umu-129912DiVA: diva2:1065390
Conference
IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, May 26-30, 2015.
Available from: 2017-01-16 Created: 2017-01-10 Last updated: 2017-01-16Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf