Robotic Swing-Up Regrasping Manipulation Based on the Impulse-Momentum Approach and cLQR Control

Avishai Sintov, Or Tslil, Amir Shapiro

Research output: Contribution to journalArticlepeer-review


In this paper, we present the swing-up regrasping problem in which an object is manipulated using a robotic arm around a point pinched by the arm's gripper. The aim of the regrasping is to manipulate the object from an initial angle to regrasp it on a new desired angle relative to the gripper. The pinching point functions as a semiactive joint at which the gripper is able to apply only frictional torques on the object to resist its motion. We address the problem by proposing a novel approach that incorporates an impulse-momentum method with a clipped linear quadratic regulator (cLQR) based controller for stabilization on the desired angle. In particular, a suboptimal cLQR controller is presented to deal with the dissipative semiactive joint. The interaction of these methods with the unique property of the semiactive joint is investigated and analyzed. Simulations on a six degrees of freedom manipulator regrasping a bottle validate the proposed approach. Moreover, a full experiment was conducted on a robotic arm to test the approach and the control of a semiactive joint. The simulations and experiment have proven the feasibility of the method.

Original languageEnglish
Article number7533508
Pages (from-to)1079-1090
Number of pages12
JournalIEEE Transactions on Robotics
Issue number5
StatePublished - Oct 2016
Externally publishedYes


  • Clipped linear quadratic regulator (cLQR)
  • Swing-Up
  • regrasping
  • robotic manipulations


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