TY - GEN
T1 - Swing-up regrasping algorithm using energy control
AU - Sintov, Avishai
AU - Shapiro, Amir
N1 - Funding Information:
The research was supported by the Israel Science Foundation (ISF) grant number 1253/14 and by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics Center of Ben-Gurion University of the Negev
Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - In this paper we propose an energy control based algorithm for performing swing-up regrasping. In such regrasping motion, an object is manipulated using a robotic arm around a point pinched by the arms gripper. The aim is to manipulate the object from an initial angle to regrasp it on a new desired angle relative to the gripper. The pinching point function as a semi-active joint where the gripper is able to apply only dissipative frictional torques on the object to resist its motion. We address the problem by proposing an algorithm based on energy control. Simulations on a three degrees of freedom manipulator regrasping a bar validate the proposed algorithm.
AB - In this paper we propose an energy control based algorithm for performing swing-up regrasping. In such regrasping motion, an object is manipulated using a robotic arm around a point pinched by the arms gripper. The aim is to manipulate the object from an initial angle to regrasp it on a new desired angle relative to the gripper. The pinching point function as a semi-active joint where the gripper is able to apply only dissipative frictional torques on the object to resist its motion. We address the problem by proposing an algorithm based on energy control. Simulations on a three degrees of freedom manipulator regrasping a bar validate the proposed algorithm.
UR - https://www.scopus.com/pages/publications/84977543525
U2 - 10.1109/ICRA.2016.7487693
DO - 10.1109/ICRA.2016.7487693
M3 - Conference contribution
AN - SCOPUS:84977543525
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4888
EP - 4893
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -