- Title
- On the Experiments about the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate
- Creator
- Serra, Diana; Ferguson, Joel; Ruggiero, Fabio; Siniscalco, Andrea; Petit, Antoine; Lippiello, Vincenzo; Siciliano, Bruno
- Relation
- 2018 26th Mediterranean Conference on Control and Automation (MED). Proceedings of the 2018 26th Mediterranean Conference on Control and Automation (MED) (Zadar, Croatia 19-22 June, 2018) p. 13-20
- Publisher Link
- http://dx.doi.org/10.1109/MED.2018.8442769
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2018
- Description
- A method to reconfigure in a nonprehensile way the pose (position and orientation) of a sphere rolling on a plate is proposed in this letter. The nonholonomic nature of the task is first solved at a planning level, where a geometric technique is employed to derive a Cartesian path to steer the sphere towards the arbitrarily desired pose. Then, an integral passivity-based control is designed to track the planned trajectory. The port-Hamiltonian formalism is employed to model the whole dynamics. Two approaches to move the plate are addressed in this paper, showing that only one of them allows the full controllability of the system. A humanoid-like robot is employed to bolster the proposed method experimentally.
- Subject
- task analysis; trajectory; dynamics; planning; manipulator dynamics; controllability
- Identifier
- http://hdl.handle.net/1959.13/1448150
- Identifier
- uon:43329
- Identifier
- ISBN:9781538678909
- Language
- eng
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