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

摘要

This paper proposes dynamic capturing strategies where a 2D stick-shaped object with both translational and rotational velocity is completely stopped by two robotic fingers. We first show the fingertip position and the object orientation for generating a desired velocity of the object under the friction independent collision. Once the object results in a pure translational motion whose direction is perpendicular to the longitudinal axis of object, it is guaranteed that two fingers can always capture the object irrespective of friction coefficient. By using this nature, we show both 2-step and 3-step capturing strategies for a 2D stick-shaped object whose width is negligibly small. The 3-step capturing strategy can guide the object in an arbitrary direction, while the 2-step one can do it only in a particular direction. The proposed strategies are demonstrated by experiments for verifying our idea.