Nonprehensile Robotic Catching Using Virtual Constraints

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

The problem of nonprehensile robotic catching is addressed using virtual nonholonomic constraints (VNHCs); the motion of the robot end-effector is designed and controlled directly in terms of the states of the object before it is caught on the surface of the end-effector. In contrast to contemporary approaches, our approach avoids the need for object trajectory prediction, and consequent time-varying robot trajectory generation. With a focus on the planar case, we demonstrate that our VNHC approach can be used to catch an object on an end-effector at a desired height, with minimal relative normal velocity at the contact instant. Moreover, the VNHC function depends only on the desired catching height, and the same VNHC can be used for a range of initial conditions. We use model predictive control (MPC) to bring the object and end-effector to rest at a desired location after contact is made. The approach is validated in simulation.

Links and sources

• Official / arXiv page
• PDF from original source

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