Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

SAGETRACK

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Web of Science (5)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Huang, W. H.
Right arrow Articles by Mason, M. T.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Mechanics, Planning, and Control for Tapping

Wesley H. Huang

Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY 12180, USA

Matthew T. Mason

The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA

We present analysis and experimental demonstration of manipulation by tapping. Our problem domain is positioning planar parts on a support surface by a sequence of taps; each tap imparts some initial velocities to the object, which then slides until it comes to rest due to friction. We formulate the mechanics of tapping for circular axisymmetric objects, show how to plan a single tap and a sequence of taps to reach a goal configuration, and present feedback control methods to robustly accomplish positioning tasks. With these methods, we have experimentally demonstrated positioning tasks using tapping, including high-precision positioning tasks in which the object is positioned more precisely than the tapping actuator. We show stability and sensitivity analysis in support of these results.

Key Words: impulsive manipulation • impact • robotic manipulation • motion planning • feedback control

The International Journal of Robotics Research, Vol. 19, No. 10, 883-894 (2000)
DOI: 10.1177/02783640022067841
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
Q. Li and S. Payandeh
Planning Velocities of Free Sliding Objects as a Free Boundary Value Problem
The International Journal of Robotics Research, January 1, 2004; 23(1): 69 - 87.
[Abstract] [PDF]