Sergei Gusev

Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the “Butterfly” robot

We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilatera…