Skip to main content
SpringerLink
Log in
Book cover

Control Problems in Robotics and Automation pp 35–49Cite as

Robotic dexterity via nonholonomy

  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 230))

Abstract

In this paper we consider some new avenues that the design and control of versatile robotic end-effectors, or “hands”, are taking to tackle the stringent requirements of both industrial and servicing applications. A point is made in favour of the so-called minimalist approach to design, consisting in the reduction of the hardware complexity to the bare minimum necessary to fulfill the specifications. It will be shown that to serve this purpose best, more advanced understanding of the mechanics and control of the hand-object system is necessary. Some advancements in this direction are reported, while few of the many problems still open are pointed out.

This is a preview of subscription content, log in via an institution.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Arai H, Tanie K, Tachi S 1993 Dynamic control of a manipulator with passive joints in operational space. IEEE Trans Robot Automat. 9:85–93

    Google Scholar 

  2. Bicchi A 1995 Hands for dextrous manipulation and powerful grasping: a difficult road towards simplicity. In: Giralt G, Hirzinger G (eds) Robotics Research: The Seventh International Symposium. Springer-Verlag, London, UK, pp 2–15

    Google Scholar 

  3. Bicchi A, Goldberg K (eds.) 1996 Proc 1996 Work Minimalism in Robotic Manipulation 1996 IEEE Int Conf Robot Automat. Minneapolis, MA

    Google Scholar 

  4. Bicchi A, Prattichizzo D, Sastry S S 1995 Planning motions of rolling surfaces. In: Proc 1995 IEEE Conf Decision Contr. New Orleans, LA

    Google Scholar 

  5. Bicchi A, Sorrentino R 1995 Dextrous manipulation through tolling. In: Proc 1995 IEEE Int Conf Robot Automat. Nagoya, Japan, pp 452–457

    Google Scholar 

  6. Brockett R W 1976 Nonlinear systems and differential geometry. Proc IEEE. 64(1):61–72

    Google Scholar 

  7. Brockett R W 1983 Asymptotic stability and feedback stabilization. In: Brockett R W, Millmann R S, Sussman H J (eds) Differential Geometric Control Theory. Birkhäuser, Boston, MA, pp 181–208

    Google Scholar 

  8. Brockett R W 1989 On the rectification of vibratory motion. Sensors and Actuators. 20:91–96

    Google Scholar 

  9. Cai C, Roth B 1987 On the spatial motion of a rigid body with point contact. In: Proc 1987 IEEE Int Conf Robot Automat. Raleigh, NC, pp 686–695

    Google Scholar 

  10. Chitour Y, Marigo A, Prattichizzo D, Bicchi A 1996 Reachability of rolling parts. In: Bonivento C, Melchiorri C, Tolle H (eds) Advances in Robotics: The ERNET Perspective. World Scientific, Singapore, pp 51–60

    Google Scholar 

  11. Cole A, Hauser J, Sastry S S 1989 Kinematics and control of a multifingered robot hand with rolling contact. IEEE Trans Robot Automat. 34(4)

    Google Scholar 

  12. De Luca A, Mattone R, Oriolo G 1996 Dynamic mobility of redundant robots using end-effector commands. In: Proc 1996 IEEE Int Conf Robot Automat. Minneapolis, MA, pp 1760–1767

    Google Scholar 

  13. Grupen R A, Henderson T C, McCammon I D 1989 A survey of general-purpose manipulation. Int J Robot Res. 8(1):38–62

    Google Scholar 

  14. Guyon C, Petitot M 1995 Flatness and nilpotency. In: Proc 3rd Euro Contr Conf. Rome, Italy

    Google Scholar 

  15. Hollerbach J M 1987 Robot hands and tactile sensing. In: Grimson W E L, Patil R S (eds) AI in the 1980's and beyond. MIT Press, Cambridge, MA, pp 317–343

    Google Scholar 

  16. Isidori A 1995 Nonlinear Control Systems. (3rd ed) Springer-Verlag, London, UK

    Google Scholar 

  17. Kolmanovsky I V, McClamroch N H, Coppola V T 1995 New results on control of multibody systems which conserve angular momentum. J Dyn Contr Syst. 1:447–462

    Google Scholar 

  18. Lafferriere G, Sussmann H 1991 Motion planning for controllable systems without drift. In: Proc 1991 IEEE Int Conf Robot Automat. Sacramento, CA, pp 1148–1153

    Google Scholar 

  19. Leonard N E, Krishnaprasad P S 1995 Motion control of drift free, left invariant systems on Lie groups. IEEE Trans Automat Contr. 40(9)

    Google Scholar 

  20. Li Z, Canny J 1990 Motion of two rigid bodies with rolling constraint. IEEE Trans Robot Automat. 6:62–72

    Google Scholar 

  21. Lynch K M, Mason M T 1995 Controllability of pushing. In: Proc 1995 IEEE Int Conf Robot Automat. Nagoya, Japan, pp 112–119

    Google Scholar 

  22. Marigo A, Chitour Y, Bicchi A 1997 Manipulation of polyhedral parts by rolling. In: Proc 1997 IEEE Int Conf Robot Automat. Albuquerque, NM

    Google Scholar 

  23. Mason M T, Salisbury J K 1985 Robot Hands and the Mechanics of Manipulation. MIT Press, Cambridge, MA

    Google Scholar 

  24. Monaco S, Normand-Cyrot, D 1992 An introduction to motion planning under multirate digital control. In: Proc 31st IEEE Conf Decision Contr. Tucson, AZ, pp 1780–1785

    Google Scholar 

  25. Montana D J 1988 The kinematics of contact and grasp. Int J Robot Res. 7(3):17–32

    Google Scholar 

  26. Morin P, Samson C 1997 Time varying exponential stabilization of a rigid spacecraft with two control torques. IEEE Trans Automat Contr. 42:528–533

    Google Scholar 

  27. Murray R M 1994 Nilpotent bases for a class of non-integrable distributions with applications to trajectory generation for nonholonomic systems. Math Contr Sign Syst. 7:58–75

    Google Scholar 

  28. Murray R M, Li Z, Sastry S S 1994 A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton, FL

    Google Scholar 

  29. Nakamura Y, Mukherjee R 1993 Exploiting nonholonomic redundancy of free flying space robots. IEEE Trans Robot Automat. 9:499–506

    Google Scholar 

  30. Neimark J I, Fufaev N A 1972 Dynamics of Nonholonomic Systems, American Mathematical Society Translations of Mathematical Monographs, 38

    Google Scholar 

  31. Nijemeijer H, van der Schaft A J 1990 Nonlinear Dynamical Control Systems. Springer-Verlag, Berlin, Germany

    Google Scholar 

  32. Oriolo G, Nakamura Y 1991 Free joint manipulators: Motion control under second-order nonholonomic constraints. In: Proc IEEE/RSJ Int Work Intel Robot Syst. Osaka, Japan, pp 1248–1253

    Google Scholar 

  33. Ostrowski J, Burdick J 1995 Geometric perspectives on the mechanics and control of robotic locomotion. In: Giralt G, Hirzinger G (eds) Robotics Research: The Seventh International Symposium. Springer-Verlag, London, UK

    Google Scholar 

  34. Pertin-Troccaz J 1989 Grasping: A state of the art. In: The Robotics Review I, MIT Press, Cambridge, MA, pp 71–98

    Google Scholar 

  35. Peshkin M, Colgate J E, Moore C 1996 Passive robots and haptic displays based on nonholonomic elements. In: Proc 1996 IEEE Int Conf Robot Automat. Minneapolis, MA, pp 551–556

    Google Scholar 

  36. Prattichizzo D, Bicchi A 1997 Consistent specification of manipulation tasks for defective mechanical systems. ASME J Dyn Syst Meas Contr. 119

    Google Scholar 

  37. Prattichizzo D, Bicchi A 1997 Dynamic analysis of mobility and graspability of general manipulation systems. IEEE Trans Robot Automat. 13

    Google Scholar 

  38. Rouchon P, Fliess M, Lèvine J, Martin P 1993 Flatness, motion planning, and trailer systems. In: 32nd IEEE Conf Decision Contr. San Antonio, TX, pp 2700–2705

    Google Scholar 

  39. Sørdalen O J, Nakamura Y 1994 Design of a nonholonomic manipulator. In: Proc 1994 IEEE Int Conf Robot Automat. San Diego, CA, pp 8–13

    Google Scholar 

  40. Sussmann H, Chitour Y 1993 A continuation method for nonholonomic pathfinding problems. In: Proc IMA Work Robot.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Centro “E. Piaggio”, Università degli Studi di Pisa, Italy

    Antonio Bicchi, Alessia Marigo & Domenico Prattichizzo

Authors
  1. Antonio Bicchi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Alessia Marigo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Domenico Prattichizzo
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Bruno Siciliano Kimon P. Valavanis

Rights and permissions

Reprints and permissions

Copyright information

© 1998 Springer-Verlag London Limited

About this paper

Cite this paper

Bicchi, A., Marigo, A., Prattichizzo, D. (1998). Robotic dexterity via nonholonomy. In: Siciliano, B., Valavanis, K.P. (eds) Control Problems in Robotics and Automation. Lecture Notes in Control and Information Sciences, vol 230. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0015075

Download citation

  • DOI: https://doi.org/10.1007/BFb0015075

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76220-1

  • Online ISBN: 978-3-540-40913-7

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation