Nonprehensile Dynamic Manipulation of a Sheet-like Viscoelastic Object
This paper discusses a nonprehensile dynamic manipulation of a deformable object, where the object is remotely manipulated on a plate attached at the tip of a bar. We have found that the object’s deformation generated by dynamic effects can drastically contribute to a fast and stable object rotation. We introduce a new simulation model for a sheetlike object, where the object is constructed of multiple nodes connected by three DOFs viscoelastic joint units. We apply the model to real food after the viscoelastic parameters are estimated. Then, simulation analysis is used to show how the object’s rotation behavior changes with respect to the plate’s motion frequency, similar to the motion of human legs sliding, walking, and running. Finally we obtain an optimum plate motion leading to the maximal angular velocity of the object. We also reveal that an appropriate angular acceleration of the plate is essential for a dynamically stable and fast object rotation.
Ixchel G. Ramirez-Alpizar Mitsuru Higashimori Makoto Kaneko Chia-Hung Tsai Imin Kao
Department of Mechanical Engineering,Graduate School of Engineering,Osaka University,2-1 Yamadaoka,S Department of Mechanical Engineering,State University of New York (SUNY) at Stony Brook,Stony Brook,
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5103-5108
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）