Rolling Polyhedra On A Plane; Analysis Of The Reachable Set (1996)Rolling Polyhedra On A Plane; Analysis Of The Reachable Set (1996)

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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