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Paper WeD01.5

Ryu, Ji-Chul (Northwestern University), Ruggiero, Fabio (UniversitÓ di Napoli Federico II), Lynch, Kevin (Northwestern University)

Control of Nonprehensile Rolling Manipulation: Balancing a Disk on a Disk

Scheduled for presentation during the Regular Session "Non-Holonomic Motion Planning" (WeD01), Wednesday, May 16, 2012, 17:30−17:45, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 18, 2017

Keywords Motion Control of Manipulators, Contact Modelling

Abstract

This paper presents stabilization control of a rolling manipulation system called the disk-on-disk. The system consists of two disks in which the upper disk (object) is free to roll on the lower disk (hand) under the influence of gravity. The goal is to stabilize the object at the unstable upright position directly above the hand. We use backstepping to derive a control law yielding global asymptotic stability. We present simulation as well as experimental results demonstrating the controller.

 

 

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