Ontology type: schema:ScholarlyArticle
2000-01
AUTHORS ABSTRACTIn this paper, we study a graspless manipulation which is object tumbling. For that, we use a general computational method derived from previous work done by Gorce to solve the dynamical control of multi-chain and multi-body systems. The basic principle of the approach is to insure the object center of mass acceleration correction and optimal force distribution using a linear programming method. We first detail the problems encountered in this type of manipulation characterized by uncontrollable contact forces with the support surface. Thus, we propose to take this point into account by defining specific constraints for the support contact. The optimization problem associated with this task is detailed for two tumbling strategies involving different contact configurations (called “tumble over” and “stand up”). Three different optimization criteria are studied and their validity for each strategy has been evaluated. Finally, simulation results of object tumbling with two and three fingers are presented. More... »
PAGES426-434
http://scigraph.springernature.com/pub.10.1007/s004660050002
DOIhttp://dx.doi.org/10.1007/s004660050002
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