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Author Chitour, Yacine ♦ Marigo, Alessia ♦ Prattichizzo, Domenico ♦ Bicchi, Antonio
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Convex Polyhedron ♦ Sufficient Condition ♦ Reachable Set ♦ Regular Surface ♦ Nonholonomic Rolling ♦ Dexterous Manipulation ♦ Main Result ♦ Dexterous Robot Hand ♦ Previous Result ♦ Rigid Body ♦ Polyhedral Object ♦ Arbitrary Relocation ♦ Dense Motion ♦ Approximate Controllability Result
Description The problem of dexterous manipulation of objects, i.e. of arbitrary relocation and reorientation of rigid bodies by action of some mechanism, is considered. We build upon previous results on the possibility of implementing dexterous "robot hands" with few actuators, which can be afforded through the exploitation of nonholonomic rolling of regular surfaces. In this paper we focus on the manipulation of polyhedral objects and more precisely on edge-rolling on a plane for convex polyhedra. The main result of this paper deals with the characterization of a very simple necessary and sufficient condition for dense motion (DM) which is a type of approximate controllability result. Here, DM can be simply formulated as follows: given a point q on the plane, an angle ` and a face F , the polyhedron can be displaced by rolling in such a way that its face F is lying on the plane, and its center c and orientation ` 0 are arbitrarily close to q and ` respectively. 1 Introduction The design of me...
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 1996-01-01
Publisher Institution in Workshop on Algorithmic Foundations of Robotics '96
Organization Centroe Piaggio