标题:Nonprehensile Pushing Manipulation Strategies for a Multi-limb Robot
作者:Zhang, Guoteng; Ma, Shugen; Li, Yibin
通讯作者:Ma, SG;Ma, Shugen
作者机构:[Zhang, Guoteng] Ritsumeikan Univ, Ritsumeikan Global Innovat Res Org, Kusatsu, Shiga, Japan.; [Ma, Shugen] Ritsumeikan Univ, Dept Robot, Kusatsu, S 更多
会议名称:25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
会议日期:OCT 01-05, 2018
来源:2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
出版年:2018
页码:6634-6639
摘要:This paper explores the control strategy for a multi-limb robot nonprehensilely pushing an object to slide on the floor. The robot's limb distals perform point contacts with the object and the floor. The contact velocity constraint and force constraint are proposed to prevent separation and restrict the system forces. Then the constraints are combined with the system dynamic models to obtain bounds on the system states. We solve the motion planning problem by selecting a feasible path in the reduced-dimensional space and generating the system trajectory along the selected path. An example is provided to illustrate the application of our technique on the physical platform.
收录类别:CPCI-S;EI;SCOPUS
资源类型:会议论文;期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-85062988441&doi=10.1109%2fIROS.2018.8593914&partnerID=40&md5=1deb39b548ae26f631f7c0a27672a416
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