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

Maksim Surov; Anton Shiriaev; Leonid Freidovich; Sergei Gusev; Leonid Paramonov

ICRA 2015poster60 citations

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

Maksim Surov, Anton Shiriaev, Leonid Freidovich, Sergei Gusev, Leonid Paramonov

Abstract

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-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based motion planning and transverse-linearization-based orbital stabilization, are appropriately extended to suit the task. Finally, the feasibility is demonstrated through a hardware implementation and an experimental validation of the concept.

BibTeX

@inproceedings{icra2015_casestudyinnonpr,
  title = {Case study in non-prehensile manipulation: planning and orbital stabilization of one-directional rollings for the “Butterfly” robot},
  author = {Maksim Surov and Anton Shiriaev and Leonid Freidovich and Sergei Gusev and Leonid Paramonov},
  booktitle = {ICRA 2015},
  year = {2015}
}