{"title":"Tossing manipulation by 1 degree-of-freedom manipulator","authors":"T. Tabata, Y. Aiyama","doi":"10.1109/IROS.2001.973348","DOIUrl":null,"url":null,"abstract":"There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as a form of dynamic manipulation. A 1-DOF manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. To locate an object to desired position, inverse problem is solved with various optimizations. Finally some experiments and their consideration are discussed.","PeriodicalId":319679,"journal":{"name":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"27","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2001.973348","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 27
Abstract
There are some researches which perform complex manipulation tasks with low degree-of-freedom manipulator by sliding, rolling, releasing etc. They are called dynamic manipulation. In this paper, tossing manipulation is introduced as a form of dynamic manipulation. A 1-DOF manipulator swings its arm to roll/slide an object on it, and then tosses it to locate to goal position. This paper shows an analysis and a simulation of kinematic model of tossing manipulation. To locate an object to desired position, inverse problem is solved with various optimizations. Finally some experiments and their consideration are discussed.
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