2013 Fiscal Year Final Research Report
Generation of Internal Dynamics with Nonholonomy for Dynamic Manipulation
| Project/Area Number |
24760186
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Dynamics/Control
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| Research Institution | Nagoya University |
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Principal Investigator |
NAKASHIMA Akira 名古屋大学, 工学(系)研究科(研究院), 助教 (70377836)
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| Project Period (FY) |
2012-04-01 – 2014-03-31
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| Keywords | ダイナミックマニピュレーション / 内部ダイナミクス / 非ホロノミック性 / ジャグリング / 押し搬送 |
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| Research Abstract |
A new control method for motion planing where dexterousity of human's dynamic manipulation and its constraint are taken into account has been proposed to achive robots which can be alternative for labors in nursing care and hazardous environments.
In 2012 year, a periodic motion planing for paddle juggling and wall juggling was achieved and a method for a robot to strike a highly spined coming ball to a desired point in a robotic table tennis system.
In 2013 year, a new switching contact modeling was proposed where the dynamic friction model (LuGre model) was integrated. A new motion planing for the racket motion was also derived where the exact solution for the racket rebound model was obtained.
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