Generating periodic motions for the butterfly robot

Author

Morales, Daniel Ortiz ; La Hera, Pedro ; Rehman, Saif Ur

Author_Institution

Dept. of Appl. Phys. & Electron., Umea° Univ., Umeå, Sweden

fYear

2013

fDate

3-7 Nov. 2013

Firstpage

2527

Lastpage

2532

Abstract

We analyze the problem of dynamic non-prehensile manipulation by considering the example of the butterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering the framework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.

Keywords

asymptotic stability; constraint theory; control system synthesis; feedback; manipulator dynamics; mobile robots; nonlinear control systems; path planning; periodic control; butterfly robot; dynamic nonprehensile manipulation problem; feedback controllers design; guarantee orbital exponential stability; juggling acrobatics; periodic motion generation; periodic motion stabilization; trajectory planning; virtual holonomic constraints; Dynamics; Force; Orbits; Planning; Robot kinematics; Trajectory; Underactuated mechanical systems; limit cycles; transverse linearization; virtual holonomic constraints;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

Conference_Location

Tokyo

ISSN

2153-0858

Type

conf

DOI

10.1109/IROS.2013.6696712

Filename

6696712