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Document type:
Konferenzbeitrag 
Author(s):
Schill, M.; Gruber, F.; Buss, M. 
Title:
Quasi-Direct Nonprehensile Catching with Uncertain Object States 
Pages contribution:
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...    »
 
Keywords:
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 
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 
Organization:
IEEE 
Date of congress:
May 26-30, 2015 
Publisher address:
Seattle, Washington, USA 
Year:
2015 
Language:
en 
Semester:
SS 15