Title :
Dynamic nonprehensile shaping of a deformable object by using its gait-like behaviors
Author :
Higashimori, Mitsuru ; Inahara, Tomoyuki ; Kaneko, Makoto
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Suita, Japan
Abstract :
This paper discusses a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin object is dynamically controlled by the plate´s rapid motion. After explaining the manipulation principle, we introduce a simplified analytical model where an object is modeled by two mass points and the plate has two degrees of freedom: a translational motion and a rotational one. After categorizing jump patterns of the mass point with considering the plate´s acceleration, we show that gait-like behaviors of the object are generated on the periodic plate´s motion. Through simulation analysis, we show the deformation velocity transition of the object with respect to the amplitude of plate´s acceleration. We reveal that the transition is characterized by particular amplitudes which govern the jump patterns of the mass point. We make clear that the optimum plate´s motion leading to the maximal deformation velocity exists on one of such particular amplitudes.
Keywords :
deformation; manipulator dynamics; pattern classification; plates (structures); deformable object; deformation velocity transition; dynamic control; dynamic nonprehensile manipulation; dynamic nonprehensile shaping; gait-like behaviors; jump pattern categorization; manipulation principle; mass points; maximal deformation velocity; periodic plate motion generation; plate acceleration amplitude; rapid motion; rotational motion; simplified analytical model; translational motion; Acceleration; Analytical models; Deformable models; Dynamics; Force; Friction; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631030