Experiments on Manipulation with Dynamic Skills
نویسندگان
چکیده
منابع مشابه
Dynamic Nonprehensile Manipulation: Controllability, Planning, and Experiments
We are interested in using low degree-of-freedom robots to perform complex tasks by not grasping (nonprehensile manipulation). By not grasping, the robot can use gravitational, centrifugal, and Coriolis forces as virtual motors to control more degrees-of-freedom of the part. The extra motion freedoms of the part are exhibited as rolling, slipping, and free ight. This paper describes controllabi...
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Planning and trajectory optimization can readily be used for kinematic control of robotic manipulation. However, planning dynamic motor skills requires a detailed physical simulation, and some aspects of the task, such as contacts, are very difficult to simulate with enough accuracy for dynamic manipulation. Alternatively, manipulation skills can be learned from experience, allowing them to def...
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ژورنال
عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers
سال: 1995
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.8.506