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Virtual Nonholonomic Constraints for Nonprehensile Robotic Catching
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Aakash Khandelwal and Ranjan Mukherjee propose using virtual nonholonomic constraints (VNHC) to solve the problem of nonprehensile robotic catching: the end-effector motion is designed and controlled directly based on the state of the object 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 authors claim that this 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 catch height and can cover a variety of initial conditions. After contact, model predictive control (MPC) is used to bring the object and the end effector to rest at a specified position. The method has so far been validated only in simulation.
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- 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.
arXiv cs.RO ·