Abstract

We analyze the problem of dynamic non-prehensile manipulation by considering the example of the butterfly robot. Our main objective is to study the problem of stabilizing periodic motions, which resemble some form of juggling acrobatics. To this end, we approach the problem by considering the framework of virtual holonomic constraints. Under this basis, we provide an analytical and systematic solution to the problems of trajectory planning and design of feedback controllers to guarantee orbital exponential stability. Results are presented in the form of simulation tests.

Keywords

Underactuated mechanical systems; limit cycles; virtual holonomic constraints; transverse linearization; motion planning; nonlinear control

Published in

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems
2013, pages: 2527-2532
ISBN: 978-1-4673-6358-7
Publisher: IEEE

Conference

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)

SLU Authors

• La Hera, Pedro

  • Department of Forest Biomaterials and Technology, Swedish University of Agricultural Sciences
    

UKÄ Subject classification

Other Electrical Engineering, Electronic Engineering, Information Engineering
Robotics
Control Engineering


Publication identifier

DOI: https://doi.org/10.1109/IROS.2013.6696712

Permanent link to this page (URI)

https://res.slu.se/id/publ/67432