Conference Paper

Impact manipulation by a hyper-flexible robotic manipulator

Tsukuba Univ., Tsukuba
DOI: 10.1109/AIM.2007.4412543 Conference: Advanced intelligent mechatronics, 2007 ieee/asme international conference on
Source: IEEE Xplore


In this paper, we propose the impact manipulation of a string-like hyper-flexible robot where an impact force is applied to a given target point. The proposed impact manipulation law consists of three phases; the feedforward and feedback swing phases, and the positioning phase, based on the information on the estimated angular velocity at the connecting point between the hyper-flexible body and the actuator. First, in the feedforward swing phase, we apply sinusoidal horizontal motion generated by a linear actuator to one end of the manipulator. Next, we switch to the feedback swing phase where the estimated angular velocity at the connecting point between the hyper-flexible body and the actuator is utilized to obtain stably large swing motion of the manipulator. Finally, in the positioning phase, we bring the actuator to the target position after waiting for the timing judged from the angular velocity information so as not to damp the obtained large swing until the impact. Experimental results are shown to verify the effectiveness of the proposed impact manipulation law.

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    ABSTRACT: In this paper, we propose a novel robotic catapult for generating repeated impulsive motions which are considered as a key to achieve creature-like motions by a compact autonomous robot. The proposed robotic catapult is just a bended elastic strip whose two ends are fixed to two rotational joints, i.e., a mechanical closed-loop of an elastic material named the 'closed elastica'. By only driving one joint back and forth gradually, we can obtain repeated impulsive motions of the elastic strip. It is shown that this robotic catapult can be applied to some robotic tasks such as impulsive robotic swimming and fly casting manipulation.
    Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on; 01/2007