2019
1-Actuator 3-DoF Manipulation Using an Underactuated Mechanism with Multiple Nonparallel and Viscoelastic Passive Joints
ICRA 2019poster
This paper presents a nonprehensile manipulation based on the vibration of a plate, in which three degrees of freedom (DoF) of a planar part are controlled using only one actuator. First, the model of a manipulator with a flat plate end effector is proposed. The manipulator employs an underactuated…