Robotic Contact Juggling
In this article, we define "robotic contact juggling" to be the purposeful control of the motion of a 3-D smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling have been studied before, in this ar...
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| Veröffentlicht in: | IEEE transactions on robotics 2023-06, Vol.39 (3), p.1-18 |
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| container_title | IEEE transactions on robotics |
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| creator | Woodruff, James Zachary Lynch, Kevin M. |
| description | In this article, we define "robotic contact juggling" to be the purposeful control of the motion of a 3-D smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling have been studied before, in this article, we provide the first general formulation and solution method for the case of an arbitrary smooth object in a single-point rolling contact on an arbitrary smooth hand. Our formulation splits the problem into four subproblems: deriving the second-order rolling kinematics; deriving the 3-D rolling dynamics; planning rolling motions that satisfy the rolling dynamics and achieve the desired goal; and stabilization of planned rolling trajectories. The theoretical results are demonstrated in 3-D simulations and 2-D experiments using feedback from a high-speed vision system. |
| doi_str_mv | 10.1109/TRO.2023.3250160 |
| format | Article |
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While specific examples of robotic contact juggling have been studied before, in this article, we provide the first general formulation and solution method for the case of an arbitrary smooth object in a single-point rolling contact on an arbitrary smooth hand. Our formulation splits the problem into four subproblems: deriving the second-order rolling kinematics; deriving the 3-D rolling dynamics; planning rolling motions that satisfy the rolling dynamics and achieve the desired goal; and stabilization of planned rolling trajectories. 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The theoretical results are demonstrated in 3-D simulations and 2-D experiments using feedback from a high-speed vision system.</description><subject>contact juggling</subject><subject>Controllability</subject><subject>Dynamics</subject><subject>feedback</subject><subject>Feedback control</subject><subject>Kinematics</subject><subject>Manipulator dynamics</subject><subject>Mathematical models</subject><subject>motion planning</subject><subject>Planning</subject><subject>Robot arms</subject><subject>Robot dynamics</subject><subject>Robot kinematics</subject><subject>Rolling contact</subject><subject>rolling manipulation</subject><subject>Rolling motion</subject><subject>Three dimensional motion</subject><subject>Vision systems</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNj01Lw0AQhhdRsFbvPXgoeE6c2Y8ke5SgVSkUSj0v-5WQUpOaTQ7-ezekB08zh-eddx5CVggpIsjnw36XUqAsZVQAZnBFFig5JsCz4jruQtCEgSxuyV0IRwDKJbAFWe070w2NXZddO2g7rD_Huj41bX1Pbip9Cv7hMpfk6-31UL4n293mo3zZJpZKOiQMHTMiE4X1BgBiI2KeWyk1xyJD7bXzzhorCh_fAoYGHM_RV04KbhxjS_I03z333c_ow6CO3di3sVLRgrLoADBRMFO270LofaXOffOt-1-FoCZ_Ff3V5K8u_jHyOEca7_0_HHIBmWR_Th5T4Q</recordid><startdate>20230601</startdate><enddate>20230601</enddate><creator>Woodruff, James Zachary</creator><creator>Lynch, Kevin M.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0001-8253-9621</orcidid><orcidid>https://orcid.org/0000-0003-3833-6004</orcidid></search><sort><creationdate>20230601</creationdate><title>Robotic Contact Juggling</title><author>Woodruff, James Zachary ; Lynch, Kevin M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c292t-31d3b5658ceb0009411177c99a41861aeadedcbc58e501031b0d471efd954bd33</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>contact juggling</topic><topic>Controllability</topic><topic>Dynamics</topic><topic>feedback</topic><topic>Feedback control</topic><topic>Kinematics</topic><topic>Manipulator dynamics</topic><topic>Mathematical models</topic><topic>motion planning</topic><topic>Planning</topic><topic>Robot arms</topic><topic>Robot dynamics</topic><topic>Robot kinematics</topic><topic>Rolling contact</topic><topic>rolling manipulation</topic><topic>Rolling motion</topic><topic>Three dimensional motion</topic><topic>Vision systems</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Woodruff, James Zachary</creatorcontrib><creatorcontrib>Lynch, Kevin M.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE transactions on robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Woodruff, James Zachary</au><au>Lynch, Kevin M.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Robotic Contact Juggling</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2023-06-01</date><risdate>2023</risdate><volume>39</volume><issue>3</issue><spage>1</spage><epage>18</epage><pages>1-18</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>In this article, we define "robotic contact juggling" to be the purposeful control of the motion of a 3-D smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." 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| ispartof | IEEE transactions on robotics, 2023-06, Vol.39 (3), p.1-18 |
| issn | 1552-3098 1941-0468 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | contact juggling Controllability Dynamics feedback Feedback control Kinematics Manipulator dynamics Mathematical models motion planning Planning Robot arms Robot dynamics Robot kinematics Rolling contact rolling manipulation Rolling motion Three dimensional motion Vision systems |
| title | Robotic Contact Juggling |
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