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