Dynamic Manipulation: Nonprehensile Ball Catching

Georg Bätz, Arhan Yaqub, Haiyan Wu, Kolja Kühnlenz, Dirk Wollherr, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Most industrial robots nowadays still employ strategies that neglect or minimize the effects of task dynamics. Some tasks, however, are intrinsically dynamic and can only be accomplished by considering their dynamic aspects. We address ball catching as a prominent and widely studied example for such a task. The paper follows a special approach to accomplish the task: the nonprehensile catching, which means catching without a form- or force-closure grasp. Depending on the tracked ball velocity, two different catching methods are proposed: First, catching of the ball during the initial contact. Second, catching the ball after an initial rebounce during the subsequent contact. For both approaches, the ball trajectory is predicted with a recursive least squares algorithm. The dynamic manipulability measure is used for the contact point selection. Once a permanent contact between ball and end effector is established, a balancing control based on force/torque feedback is applied. Both methods are experimentally validated using a six DoF industrial robot.
Original languageEnglish
Title of host publication18th Mediterranean Conference on Control & Automation
Number of pages6
Publication date2010
Pages365 - 370
ISBN (Print)978-1-4244-8091-3
Publication statusPublished - 2010
Externally publishedYes
Event2010 18th Mediterranean Conference on Control & Automation - Marrakech, Morocco
Duration: 23 Jun 201025 Jun 2010


Conference2010 18th Mediterranean Conference on Control & Automation


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