Dynamic manipulation of active objects: Modeling and optimization

In this paper the problem of dynamic manipulation of active objects by throwing is studied. Here active object means a multi-body object that can actively move its body parts. The prime reason for selecting this problem is existence of conceptual analogy between it and dynamic walking. The second reason is theoretical attraction in addition to its possible practical applications for manipulation of active objects in space or in micro scales. First the task is decomposed into three distinct phases and it is mathematically modeled. Main constraints such as requirement to hold dynamic grasp are also derived and mapped into the manipulator´s configuration space. Then the task is formulated as an optimization problem and a proper cost function in the manipulator´s configuration space is presented. Finally this optimization problem is solved for obtaining appropriate trajectories of manipulator´s joints in addition to that of the active object. Simulation results in ADAMS verify the developed formulations.