ICRA 2011 Paper Abstract


Paper WeA209.4

Iwaki, Satoshi (Hiroshima City University), Morimasa, Hiroshi (Hiroshima City University), Noritsugu, Toshiro (Okayama University), Kobayashi, Minoru (Nippon Telegraph and Telephone Corporation)

Contactless Manipulation of an Object on a Plane Surface Using Multiple Air Jets

Scheduled for presentation during the Regular Sessions "Novel Actuators II" (WeA209), Wednesday, May 11, 2011, 10:50−11:05, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords New Actuators for Robotics, Hydraulic/Pneumatic Actuators


We propose a technology for manipulating the position and orientation of an object in a contactless manner over an extended range. This technology involves multiple ejectors that stream jets of compressed air onto an object from various directions. By regulating the air jet directions and flow rates, the object can be actively “force closured” and its position and orientation can be manipulated freely. As the first step of this research, in this paper, we discuss technological challenges for this method. Next we provide a preliminary investigation with one degree-of-freedom planar experimental system using a continuous and a PWM air jet ejection method. Based on this investigation, we examine problems relating to the use of three air nozzles to control the position of a cylindrical object in two degrees of planar freedom.



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