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Dokumenttyp:
Konferenzbeitrag 
Autor(en):
Schill, M.; Gruber, F.; Buss, M. 
Titel:
Quasi-Direct Nonprehensile Catching with Uncertain Object States 
Seitenangaben Beitrag:
2468-2474 
Abstract:
One of the key challenges in dynamic manipulation is to establish continuous contact between a moving object and a manipulator. Direct robotic catching is a benchmark in this context, especially without grasping devices. In this paper, we explain why it is unrewarding to aim for an ideal initial dynamic contact if only imprecise knowledge of the object states is available. Robust initial contacts are proposed such that a successful quasi-direct catch can be predicted. The proposed robustness ori...    »
 
Stichworte:
end effectors; manipulator dynamics; mechanical contact; set theory; end-effector; ideal initial dynamic contact; quasidirect nonprehensile catching; reachable set computations; robotic throw; uncertain object states; upper negative relative acceleration bound; Acceleration; Dynamics; Manipulator dynamics; Robot kinematics; Trajectory 
Kongress- / Buchtitel:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 
Ausrichter der Konferenz:
IEEE 
Konferenzort:
Seattle, Washington, USA 
Datum der Konferenz:
May 26-30, 2015 
Verlagsort:
Seattle, Washington, USA 
Jahr:
2015 
Sprache:
en 
Semester:
SS 15