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Case study in non-prehensile manipulation: planning continuous rotations for the “Butterfly” robot. / Surov, Maksim; Shiriaev, Anton; Freidovich, Leonid; Gusev, Sergei; Paramonov, Leonid.

Robotics and Automation (ICRA), 2015 IEEE International Conference on. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1484 - 1489.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Research

Harvard

Surov, M, Shiriaev, A, Freidovich, L, Gusev, S & Paramonov, L 2015, Case study in non-prehensile manipulation: planning continuous rotations for the “Butterfly” robot. in Robotics and Automation (ICRA), 2015 IEEE International Conference on. Institute of Electrical and Electronics Engineers Inc., pp. 1484 - 1489. https://doi.org/10.1109/ICRA.2015.7139385

APA

Surov, M., Shiriaev, A., Freidovich, L., Gusev, S., & Paramonov, L. (2015). Case study in non-prehensile manipulation: planning continuous rotations for the “Butterfly” robot. In Robotics and Automation (ICRA), 2015 IEEE International Conference on (pp. 1484 - 1489). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139385

Vancouver

Surov M, Shiriaev A, Freidovich L, Gusev S, Paramonov L. Case study in non-prehensile manipulation: planning continuous rotations for the “Butterfly” robot. In Robotics and Automation (ICRA), 2015 IEEE International Conference on. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1484 - 1489 https://doi.org/10.1109/ICRA.2015.7139385

Author

Surov, Maksim ; Shiriaev, Anton ; Freidovich, Leonid ; Gusev, Sergei ; Paramonov, Leonid. / Case study in non-prehensile manipulation: planning continuous rotations for the “Butterfly” robot. Robotics and Automation (ICRA), 2015 IEEE International Conference on. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1484 - 1489

BibTeX

@inproceedings{76b2726de9204760b3229af2b785de18,
title = "Case study in non-prehensile manipulation: planning continuous rotations for the “Butterfly” robot",
abstract = "We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based motion planning and transverse-linearization-based orbital stabilization, are appropriately extended to suit the task. Finally, the feasibility is demonstrated through a hardware implementation and an experimental validation of the concept.",
author = "Maksim Surov and Anton Shiriaev and Leonid Freidovich and Sergei Gusev and Leonid Paramonov",
year = "2015",
doi = "10.1109/ICRA.2015.7139385",
language = "не определен",
pages = "1484 -- 1489",
booktitle = "Robotics and Automation (ICRA), 2015 IEEE International Conference on",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "Соединенные Штаты Америки",

}

RIS

TY - GEN

T1 - Case study in non-prehensile manipulation: planning continuous rotations for the “Butterfly” robot

AU - Surov, Maksim

AU - Shiriaev, Anton

AU - Freidovich, Leonid

AU - Gusev, Sergei

AU - Paramonov, Leonid

PY - 2015

Y1 - 2015

N2 - We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based motion planning and transverse-linearization-based orbital stabilization, are appropriately extended to suit the task. Finally, the feasibility is demonstrated through a hardware implementation and an experimental validation of the concept.

AB - We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based motion planning and transverse-linearization-based orbital stabilization, are appropriately extended to suit the task. Finally, the feasibility is demonstrated through a hardware implementation and an experimental validation of the concept.

U2 - 10.1109/ICRA.2015.7139385

DO - 10.1109/ICRA.2015.7139385

M3 - статья в сборнике материалов конференции

SP - 1484

EP - 1489

BT - Robotics and Automation (ICRA), 2015 IEEE International Conference on

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

ID: 4747988