Control of nonprehensile planar rolling manipulation: a passivity-based approach

Title: Control of nonprehensile planar rolling manipulation: a passivity-based approach
Creator: Serra, Diana; Ruggiero, Fabio; Donaire, Alejandro; Buonocore, Luca Rosario; Lippiello, Vincenzo; Siciliano, Bruno
Relation: IEEE Transactions on Robotics Vol. 35, Issue 2, p. 317-329
Publisher Link: http://dx.doi.org/10.1109/TRO.2018.2887356
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2019
Description: 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.
Subject: dynamic manipulation; nonprehensile rolling manipulation; passivity-based control; underactuated systems
Identifier: http://hdl.handle.net/1959.13/1444072
Identifier: uon:42191
Identifier: ISSN:1552-3098
Language: eng
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