DocumentCode
3097720
Title
High-speed throwing motion based on kinetic chain approach
Author
Senoo, Taku ; Namiki, Akio ; Ishikawa, Masatoshi
Author_Institution
Dept. of Creative Inf., Univ. of Tokyo, Tokyo
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
3206
Lastpage
3211
Abstract
In this paper the robotic throwing task is considered with the goal of achieving high-speed dynamic manipulation. We propose a kinetic chain approach for swing motion focused on torque transmission. In addition the release method using a robotic hand is analyzed for ball control. Experimental results are shown in which a high-speed manipulator throws a ball toward a target.
Keywords
manipulator dynamics; manipulator kinematics; motion control; torque control; ball control; high-speed dynamic manipulation; high-speed manipulator; high-speed throwing motion; kinetic chain approach; robotic throwing task; swing motion; torque transmission; Equations; Fingers; Force; Joints; Mathematical model; Robots; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4651142
Filename
4651142
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