Article

Study proposes virtual nonholonomic constraints for nonprehensile robotic catching

The paper proposes using virtual nonholonomic constraints (VNHCs) to address the problem of nonprehensile robotic catching, designing and controlling the motion of the end-effector directly based on the object's state before it is caught, without the need to predict the object's trajectory and generate a time-varying robot trajectory. In the planar case, the method can catch the object at a desired height and minimize the relative normal velocity at the instant of contact; the same VNHC function depends only on the target catching height and can cover a range of initial conditions. After contact, model predictive control (MPC) is used to bring the object and end-effector to rest at a specified position. The approach has so far been validated in simulation.

Part of the event: Virtual Nonholonomic Constraints for Nonprehensile Robotic Catching

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