Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach

Authors

Diana Serra, Fabio Ruggiero, Alejandro Donaire, Luca Rosario Buonocore, Vincenzo Lippiello, Bruno Siciliano

Abstract

This paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is applied to two case studies of planar rolling nonprehensile manipulation, namely, the ball-and-beam and the eccentric disk-on-disk. The performance of the resulting controllers is illustrated through both simulations and experimental results, showing the applicability of the design in a real setup.

Citation

• Journal: IEEE Transactions on Robotics
• Year: 2019
• Volume: 35
• Issue: 2
• Pages: 317–329
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tro.2018.2887356

BibTeX

@article{Serra_2019,
  title={{Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach}},
  volume={35},
  ISSN={1941-0468},
  DOI={10.1109/tro.2018.2887356},
  number={2},
  journal={IEEE Transactions on Robotics},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Serra, Diana and Ruggiero, Fabio and Donaire, Alejandro and Buonocore, Luca Rosario and Lippiello, Vincenzo and Siciliano, Bruno},
  year={2019},
  pages={317--329}
}

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References

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