Mechanics, Planning, and Control for Tapping

By Wesley H. Huang, Matthew Thomas Mason. 1998

We present analysis and experimental demonstration of manipulation by tapping. Our problem domain is positioning planar parts on a support surface by a sequence of taps; each tap imparts some initial velocities to the object, which then slides until it comes to rest due to friction. We formulate the mechanics of tapping for circular axisymmetric objects, show how to plan a single tap and a sequence of taps to reach a goal configuration, and present feedback control methods to robustly accomplish positioning tasks. With these methods, we have experimentally demonstrated positioning tasks using tapping, including high-precision positioning tasks in which the object is positioned more precisely than the tapping actuator. We show stability and sensitivity analysis in support of these results.

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

1. Yunfei Bai
2. C. Karen Liu
3. OpenAI
4. Priyanka Mandikal
5. Tao Chen
6. Sammy Joe Christen
7. Herke Van Hoof

Citations in the corpus

• Solving Rubik's Cube with a Robot Hand (2019, neutral): “, 15, 26], sliding [15, 100], finger gaiting [42], finger tracking [90], pushing [24], and re-grasping [109, 25]. For some hand types, strategies like pivoting [2], tilting [30], tumbling [96], tapping [46], two-point manipulation [1], and two-palm manipulation [29] are also options. These approaches ”
• Dexterous manipulation using both palm and fingers (2014, background): “A variety of strategies have been proposed, such as tumbling [13], tilting [14], pivoting [15], tapping [16], [17], two-pin manipulation [18], and two-palm manipulation [19], [20].”