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In this paper we address the task of throwing an object on a plane using a wheeled-tip robot. Wheeled-tip robots constitute of one or more artificial fingers with an active wheel at the end of each finger that acts as its fingertip. This class of robots may be used for the task of transfer-throwing objects. In this task, the robot transfers the object for a while, giving it required velocity and then...
This paper addresses the planning problem of object manipulation using wheeled-tip robots considering the wheel–object contact positioning error. The term wheeled-tip refers to a new mechanism that incorporates active wheels at robot’s fingertips and allows the grasp contact-point to move along the object’s surface. The benefits of unlimited rolling contact is achieved at the cost of contact positioning...
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