This paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is applied to two case studies of planar rolling nonprehensile manipulation, namely, the ball-and-beam and the eccentric disk-on-disk. The performance of the resulting controllers is illustrated through both simulations and experimental results, showing the applicability of the design in a real setup.

Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach / Serra, Diana; Ruggiero, Fabio; Donaire, Alejandro; Buonocore, Luca Rosario; Lippiello, Vincenzo; Siciliano, Bruno. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 35:2(2019), pp. 317-329. [10.1109/TRO.2018.2887356]

Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach

Serra, Diana;Ruggiero, Fabio
;
Buonocore, Luca Rosario;Lippiello, Vincenzo;Siciliano, Bruno
2019

Abstract

This paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is applied to two case studies of planar rolling nonprehensile manipulation, namely, the ball-and-beam and the eccentric disk-on-disk. The performance of the resulting controllers is illustrated through both simulations and experimental results, showing the applicability of the design in a real setup.
2019
Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach / Serra, Diana; Ruggiero, Fabio; Donaire, Alejandro; Buonocore, Luca Rosario; Lippiello, Vincenzo; Siciliano, Bruno. - In: IEEE TRANSACTIONS ON ROBOTICS. - ISSN 1552-3098. - 35:2(2019), pp. 317-329. [10.1109/TRO.2018.2887356]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/741825
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