ICRA'09 Paper Abstract


Paper FrA4.2

Mori, Wataru (Nara institute of science and technology), Ueda, Jun (Georgia Institute of Technology), Ogasawara, Tsukasa (Nara Institute of Science and Technology)

1-DOF Dynamic Pitching Robot That Independently Controls Velocity, Angular Velocity, and Direction of Ball: Contact Models and Motion Planning

Scheduled for presentation during the Regular Sessions "Motion and Path Planning - I" (FrA4), Friday, May 15, 2009, 08:50−09:10, Room: 402

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Motion and Path Planning, Dynamics, Nonholonomic Motion Planning


This paper demonstrates that a 1-DOF planar ball-throwing robot has a capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwing motion is modeled using two underactuated contact dynamics, called finger-link contact model and fingertip contact model, with an unidirectional transition from one model to another. A combination of preliminary global search method and a search algorithm based on 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.



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