10.1184/R1/6552158.v1
Nina Zumel
Nina
Zumel
Michael Erdmann
Michael
Erdmann
Balancing of a Planar Bouncing Object
Carnegie Mellon University
1994
Robotics
1994-01-01 00:00:00
Journal contribution
https://kilthub.cmu.edu/articles/journal_contribution/Balancing_of_a_Planar_Bouncing_Object/6552158
While most previous work in planning manipulation tasks
relies on the assumption of quasi-static conditions, there
can be situations where the quasi-static assumption may
not hold, and the assumptions about the environment must
be relaxed. This is true, for example, in a situation where
objects are making and breaking contact at high enough
velocities that contact dynamics play a significant effect in
the motion of the colliding objects.
There has been some work studying models of collision,
in particular for the design and analysis of systems with intermittent constraints, and for the design of juggling robots.
Our work extends previous studies in planar juggling to
the case of a polygonal object, using the model of rigid
body impulsive collision. Simulations verify the results of a
linearized analysis.