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This paper discusses a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin object is dynamically controlled by the plate's rapid motion. After explaining the manipulation principle, we introduce a simplified analytical model where an object is modeled by two mass points and the plate has two degrees of freedom: a translational motion and a rotational one. After categorizing...
This paper discusses a dynamic nonprehensile manipulation of a thin flexible object where the object rotates on a plate. We have found that a thin flexible object shows bipedal-gaited motions when rotating on the vibrating plate and that the maximal angular velocity of the object is achieved by an appropriate plate motion with respect to the object's physical parameters. Based on such an object's...
A rigid plate end-effector at the tip of a high-speed manipulator can remotely manipulate an object without grasping it. This paper discusses a dynamic nonprehensile manipulation strategy to rotate thin deformable objects on a rigid plate with two degrees of freedom (DOFs). The deformation of the object due to dynamic effects is exploited to produce fast and stable rotation. By varying the frequency...
This paper discusses a dynamic nonprehensile manipulation of a thin deformable object and its rotational behavior similarity to bipedal gaits toward an effective rotation. A rigid plate end-effector at the tip of a high-speed manipulator can remotely manipulate an object without grasping it. We make use of a simulation model in order to approximate the dynamic characteristics of a thin deformable...
This paper discusses the non-grasp dynamic manipulation of a deformable object inspired by the handling mechanism of pizza master. The master handles a tool where a plate is attached at the tip of a bar, and he remotely manipulates a pizza on the plate. We found that he aggressively utilizes two DOFs (degrees of freedom), such that the linear motion along the bar and the rotational one around the...
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