학술논문
Robotic Contact Juggling
Document Type
Periodical
Author
Source
IEEE Transactions on Robotics IEEE Trans. Robot. Robotics, IEEE Transactions on. 39(3):1964-1981 Jun, 2023
Subject
Language
ISSN
1552-3098
1941-0468
1941-0468
Abstract
In this article, we define “robotic contact juggling” to be the purposeful control of the motion of a 3-D smooth object as it rolls freely on a motion-controlled robot manipulator, or “hand.” While specific examples of robotic contact juggling have been studied before, in this article, we provide the first general formulation and solution method for the case of an arbitrary smooth object in a single-point rolling contact on an arbitrary smooth hand. Our formulation splits the problem into four subproblems: deriving the second-order rolling kinematics; deriving the 3-D rolling dynamics; planning rolling motions that satisfy the rolling dynamics and achieve the desired goal; and stabilization of planned rolling trajectories. The theoretical results are demonstrated in 3-D simulations and 2-D experiments using feedback from a high-speed vision system.