0
Research Papers

Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation

[+] Author and Article Information
Igor Goncharenko1

 3D Incorporated, Kanagawa-ku, Sakaecho 1-1, Urban Square, Yokohama 221-0052, Japanigor@ddd.co.jp

Mikhail Svinin

Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japansvinin@bmc.riken.jp

Shigeyuki Hosoe

Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japanhosoe@bmc.riken.jp

To the best of our knowledge, the only exception is the study (20) where a motion planner, employing state-of-the-art algorithms of computer science (rapidly exploring random trees), is proposed.

In the preliminary evaluations, we found that specifying the complete orientation at the target configuration made the reaching task much more complex. One can speculate that the acquisition of the necessary motor skills for such a task requires considerably more learning time.

1

Corresponding author.

J. Comput. Inf. Sci. Eng 9(1), 011004 (Feb 20, 2009) (10 pages) doi:10.1115/1.3074282 History: Received September 30, 2007; Revised June 18, 2008; Published February 20, 2009

A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.

FIGURES IN THIS ARTICLE
<>
Copyright © 2009 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Motivating example (left) and the prototype of the virtual reality haptic simulator (right)

Grahic Jump Location
Figure 2

System formalization

Grahic Jump Location
Figure 3

Definition of basic vectors

Grahic Jump Location
Figure 4

System architecture

Grahic Jump Location
Figure 5

Graphical user interface

Grahic Jump Location
Figure 6

Contact point trajectories for the right-handed (top) and left-handed (bottom) subjects

Grahic Jump Location
Figure 7

Driving point trajectories for the right-handed (top) and left-handed (bottom) subjects

Grahic Jump Location
Figure 8

Double pendulum as a propelling mechanism

Grahic Jump Location
Figure 9

Roselike trajectory of the mass point on the equatorial plane

Grahic Jump Location
Figure 10

Trajectory of the contact point in the contact plane

Grahic Jump Location
Figure 11

Precession angle ψ

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In