The nonholonomy exhibited by kinematic systems consisting of bodies rolling on top of each other can be used for the purpose of building dexterous mechanisms with a minimum hardware complication. Such a desirable engineering feature can be fully exploited, however, only if the capability of planning and controlling the rolling motions of arbitrary objects is achieved. In this paper we present recent advances of both theoretical and experimental natures towards realizing a robot gripper for manipulation of objects whose shape is not known a priori, but is reconstructed as manipulation proceeds.

A., B., A., M., Prattichizzo, D. (1999). Dexterity through rolling: manipulation of unknown objects. In Proc. IEEE Int. Conf. on Robotics and Automation (pp.1583-1588). IEEE [10.1109/ROBOT.1999.772585].

Dexterity through rolling: manipulation of unknown objects

PRATTICHIZZO, DOMENICO
1999-01-01

Abstract

The nonholonomy exhibited by kinematic systems consisting of bodies rolling on top of each other can be used for the purpose of building dexterous mechanisms with a minimum hardware complication. Such a desirable engineering feature can be fully exploited, however, only if the capability of planning and controlling the rolling motions of arbitrary objects is achieved. In this paper we present recent advances of both theoretical and experimental natures towards realizing a robot gripper for manipulation of objects whose shape is not known a priori, but is reconstructed as manipulation proceeds.
1999
0780351800
A., B., A., M., Prattichizzo, D. (1999). Dexterity through rolling: manipulation of unknown objects. In Proc. IEEE Int. Conf. on Robotics and Automation (pp.1583-1588). IEEE [10.1109/ROBOT.1999.772585].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/30757