2018
Nonprehensile Manipulation of an Underactuated Mechanical System With Second-Order Nonholonomic Constraints: The Robotic Hula-Hoop
RA-L 2018
A mechanical system consisting of a hoop and a pole is considered, for which the corresponding dynamic model represents an underactuated system subject to second-order nonholonomic constraints. The pursued goal is to simultaneously track a trajectory in the unactuated coordinates and to stabilize th