Acceleration Control for Dynamic Manipulation of a Robot Turning over Objects

Toshiaki Tsuji, Kyo Kutsuzawa, Sho Sakaino

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This study deals with dynamic object manipulation by a robot using a tool. In order to keep the contact between the held spatula and the manipulated object, a variety of movements satisfying conditions in acceleration dimension should be planned. However, it is quite difficult to assure the acceleration to stay in a certain range in case disturbances exist. Therefore, this study proposes a control architecture for acceleration control and discusses how to develop a controller suitable for dynamic object manipulation. Comparison through simulation and experimental results reveals the features of the proposed control system.

Original languageEnglish
Article number7961204
Pages (from-to)2328-2335
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - 2017 Oct


  • Contact modelling
  • dexterous manipulation
  • manipulation planning
  • motion control
  • motion control of manipulators


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