Swing-up regrasping algorithm using energy control

Avishai Sintov, Amir Shapiro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

In this paper we propose an energy control based algorithm for performing swing-up regrasping. In such regrasping motion, an object is manipulated using a robotic arm around a point pinched by the arms gripper. The aim is to manipulate the object from an initial angle to regrasp it on a new desired angle relative to the gripper. The pinching point function as a semi-active joint where the gripper is able to apply only dissipative frictional torques on the object to resist its motion. We address the problem by proposing an algorithm based on energy control. Simulations on a three degrees of freedom manipulator regrasping a bar validate the proposed algorithm.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4888-4893
Number of pages6
ISBN (Electronic)9781467380263
DOIs
StatePublished - 8 Jun 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 16 May 201621 May 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Conference

Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Country/TerritorySweden
CityStockholm
Period16/05/1621/05/16

Funding

FundersFunder number
Biological and Cognitive Robotics Center of Ben-Gurion University of the Negev
Leona M. and Harry B. Helmsley Charitable Trust
Israel Science Foundation1253/14

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