Title:
1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball

dc.contributor.author Mori, Wataru en_US
dc.contributor.author Ueda, Jun en_US
dc.contributor.author Ogasawara, Tsukasa en_US
dc.contributor.corporatename Nara Institute of Science and Technology. Graduate School of Information Science en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-03-16T13:28:50Z
dc.date.available 2011-03-16T13:28:50Z
dc.date.issued 2010
dc.description ©Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010 en_US
dc.description DOI: 10.1163/016918610X493679 en_US
dc.description.abstract This paper demonstrates that a 1-DOF planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwingmotion ismodeled using two underactuated contact dynamics, called a finger-link contact model and a fingertip contact model, with a unidirectional transition from one model to another. A combination of a preliminary global search method and a search algorithm based on a simulated annealing (SA) algorithm provides joint torque commands for this highly nonlinear system. An experimental system with a 1-DOF planer manipulator has been developed that throws a disk (ball) in a frictionless plane. The experimental results confirm the validity of the contact models and the feasibility of independent control of the three kinematic variables. en_US
dc.identifier.citation Wataru Mori, Jun Ueda, Tsukasa Ogasawara, "1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball," Advanced Robotics 24 (2010) 921–942. en_US
dc.identifier.issn 0169-1864
dc.identifier.uri http://hdl.handle.net/1853/37412
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Brill Academic Publishers en_US
dc.subject Dynamic manipulation en_US
dc.subject Pitching en_US
dc.subject Contact model en_US
dc.subject Motion planning en_US
dc.title 1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball en_US
dc.type Text
dc.type.genre Post-print
dspace.entity.type Publication
local.contributor.author Ueda, Jun
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename Biorobotics and Human Modeling Lab
relation.isAuthorOfPublication 7ff601c5-b262-4830-8a06-b75c55f5f1c8
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isOrgUnitOfPublication 4b66d00b-b98a-41d9-8840-90db5ad3f880
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