Non-grasp manipulation of deformable object by using pizza handling mechanism

Authors:
Mitsuru Higashimori;Yasutaka Omoto;Makoto Kaneko
Affiliations:
Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita, Japan;Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita, Japan;Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita, Japan
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 5
Cited 0

Robot hands and the mechanics of manipulation

Robot hands and the mechanics of manipulation
Mechanics and planning of manipulator pushing operations

International Journal of Robotics Research
Sensory Robotics for the Handling of Limp Materials

Sensory Robotics for the Handling of Limp Materials
Modeling of Viscoelastic Contacts and Evolution of Limit Surface for Robotic Contact Interface

IEEE Transactions on Robotics
Dynamic Capturing Strategy for a 2-D Stick-Shaped Object Based on Friction Independent Collision

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper discusses the non-grasp dynamic manipulation of a deformable object inspired by the handling mechanism of pizza master. The master handles a tool where a plate is attached at the tip of a bar, and he remotely manipulates a pizza on the plate. We found that he aggressively utilizes two DOFs (degrees of freedom), such that the linear motion along the bar and the rotational one around the bar, in order to produce quick plate motions for dynamically manipulating the object. Applying this handling mechanism to the robot system, we first show how to rotate an object by using the two DOFs of plate motion. We then reveal that the deformation of the object generated by dynamic effects can drastically contribute to high-speed and stable rotation, just like human steps for turn on the floor. By both simulation and experiment, we show that there exists the optimum plate motion leading to the maximum rotational speed of the object.