Generating Periodic Motions for the Butterﬂy Robot
2013 (English)In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on / [ed] Amato, N., IEEE conference proceedings, 2013, 2527-2532 p.Conference paper (Refereed)
We analyze the problem of dynamic non-prehensile manipulation by considering the example of thebutterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering theframework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 2527-2532 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Underactuated mechanical systems, limit cycles, virtual holonomic constraints, transverse linearization
IdentifiersURN: urn:nbn:se:umu:diva-86210DOI: 10.1109/IROS.2013.6696712ISI: 000331367402100ISBN: 978-1-4673-6358-7OAI: oai:DiVA.org:umu-86210DiVA: diva2:698101
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Location: Tokyo, Japan Date: Nov 3-8, 2013