TY - GEN
T1 - Dynamic nonprehensile shaping of a thin rheological object
AU - Inahara, Tomoyuki
AU - Higashimori, Mitsuru
AU - Tadakuma, Kenjiro
AU - Kaneko, Makoto
PY - 2011
Y1 - 2011
N2 - This paper describes a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate's rapid motion. We first introduce a one-dimensional viscous model to approximate the object deformation characteristics, focusing on the final shape of the object. Assuming that the plate has two degrees of freedom: a translational motion and a rotational one, we derive two sufficient conditions to deform the object: one to enlarge it and the other to contract it. Then, we show the plate's cyclic motion leading to the object's continuous deformation. Finally, simulation and experimental results are shown in order to verify the proposed method.
AB - This paper describes a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate's rapid motion. We first introduce a one-dimensional viscous model to approximate the object deformation characteristics, focusing on the final shape of the object. Assuming that the plate has two degrees of freedom: a translational motion and a rotational one, we derive two sufficient conditions to deform the object: one to enlarge it and the other to contract it. Then, we show the plate's cyclic motion leading to the object's continuous deformation. Finally, simulation and experimental results are shown in order to verify the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84455201710&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455201710&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048155
DO - 10.1109/IROS.2011.6048155
M3 - Conference contribution
AN - SCOPUS:84455201710
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1392
EP - 1397
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -