A method to reconfigure in a nonprehensile way the pose (position and orientation) of a sphere rolling on a plate is proposed in this letter. The nonholonomic nature of the task is first solved at a planning level, where a geometric technique is employed to derive a Cartesian path to steer the sphere towards the arbitrarily desired pose. Then, an integral passivity-based control is designed to track the planned trajectory. The port-Hamiltonian formalism is employed to model the whole dynamics. Two approaches to move the plate are addressed in this paper, showing that only one of them allows the full controllability of the system. A humanoid-like robot is employed to bolster the proposed method experimentally.

On the Experiments about the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate / Serra, Diana; Ferguson, Joel; Ruggiero, Fabio; Siniscalco, Andrea; Petit, Antoine; Lippiello, Vincenzo; Siciliano, Bruno. - (2018), pp. 13-20. (Intervento presentato al convegno 26th Mediterranean Conference on Control and Automation, MED 2018 tenutosi a hrv nel 2018) [10.1109/MED.2018.8442769].

On the Experiments about the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate

Serra, Diana;Ruggiero, Fabio
;
Petit, Antoine;Lippiello, Vincenzo;Siciliano, Bruno
2018

Abstract

A method to reconfigure in a nonprehensile way the pose (position and orientation) of a sphere rolling on a plate is proposed in this letter. The nonholonomic nature of the task is first solved at a planning level, where a geometric technique is employed to derive a Cartesian path to steer the sphere towards the arbitrarily desired pose. Then, an integral passivity-based control is designed to track the planned trajectory. The port-Hamiltonian formalism is employed to model the whole dynamics. Two approaches to move the plate are addressed in this paper, showing that only one of them allows the full controllability of the system. A humanoid-like robot is employed to bolster the proposed method experimentally.
2018
9781538678909
On the Experiments about the Nonprehensile Reconfiguration of a Rolling Sphere on a Plate / Serra, Diana; Ferguson, Joel; Ruggiero, Fabio; Siniscalco, Andrea; Petit, Antoine; Lippiello, Vincenzo; Siciliano, Bruno. - (2018), pp. 13-20. (Intervento presentato al convegno 26th Mediterranean Conference on Control and Automation, MED 2018 tenutosi a hrv nel 2018) [10.1109/MED.2018.8442769].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/741803
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