期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 34, 期 6, 页码 1502-1517出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2018.2868857
关键词
Catching; contactmodeling; dexterousmanipulation; manipulation planning; nonprehensile manipulation
类别
资金
- ERC Advanced Grant SHRINE [267877]
- Technical University of Munich-Institute for Advanced Study - German Excellence Initiative
- European Research Council (ERC) [267877] Funding Source: European Research Council (ERC)
This paper addresses a remaining gap between today's academic catching robots and their future in industrial applications: reliable task execution. A novel parameterization is derived to reduce the three-dimensional (3-D) catching problem to 1-D on the ballistic flight path. Vice versa, an efficient dynamical system formulation allows reconstruction of solutions from 1-D to 3-D. Hence, the body of the work in hybrid dynamical systems theory, in particular on the 1-D bouncing ball problem, becomes available for robotic catching. Uniform Zeno asymptotic stability from bouncing ball literature is adapted, as an example, and extended to fit the catching problem. A quantitative stability measure and the importance of the initial relative state between the object and end-effector are discussed. As a result, constrained dynamic optimization maximizes convergence speed while satisfying all kinematic and dynamic limits. Thus, for the first time, a quantitative success-oriented comparison of catching motions becomes available. The feasible and optimal solution is then validated on two symmetric robots autonomously playing throw and catch.
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